---
task_categories:
- robotics
tags:
- LeRobot
- d3il
- imitation-learning
---

# Combined D3IL dataset (LeRobot v2.1)

This repository combines all eight D3IL demonstration datasets into one
task-conditioned LeRobot v2.1 dataset.

`observation.state` is zero-padded to 22 values and `action` to
8 values. `state_is_pad` and `action_is_pad` identify padding.
`source_episode_index` preserves the episode number within the source dataset,
and `source_fps` preserves its original nominal FPS. The repository FPS is
29, the rate shared by seven of the eight source datasets; no source
frames were dropped or interpolated.

Camera features are not included because four source tasks do not have camera
data and LeRobot v2.1 does not support optional per-task features.

| Source | Task instruction | State dim | Action dim | Source FPS |
|---|---|---:|---:|---:|
| `d3il_avoiding` | Move the end effector to the goal while avoiding the obstacles. | 4 | 2 | 29 |
| `d3il_aligning` | Align the push box with the target box. | 20 | 3 | 29 |
| `d3il_inserting` | Insert the three boxes into their target gates. | 13 | 2 | 29 |
| `d3il_pushing` | Push the red and green boxes to their target positions. | 10 | 2 | 29 |
| `d3il_sorting_2` | Sort the two boxes by color. | 10 | 2 | 29 |
| `d3il_sorting_4` | Sort the four boxes by color. | 16 | 2 | 29 |
| `d3il_sorting_6` | Sort the six boxes by color. | 22 | 2 | 29 |
| `d3il_stacking` | Stack the red, green, and blue boxes. | 20 | 8 | 33 |