DAVIAN-Robotics/RoboLab-BananaInBowl-30cm-50k

This dataset was created using LeRobot.

Dataset Description

RoboLab (Isaac Lab) manipulation dataset — RFCL x RoboLab RL-policy rollouts converted to LeRobot v3.0 for pi0.5 (pi05) SFT. 51239 episodes / 812250 frames.

• cameras: over_shoulder_left_camera, wrist_cam (480x270)
• action (8): droid-frame joint targets (7) + gripper [0,1]; observation.state (8) follows the same convention (droid_v3 / pi05 compatible)
• pipeline: decoupled state collection -> teleport-replay render (DLSS Quality) -> LeRobot v3.0

Visualize

Open in the LeRobot dataset visualizer

• Homepage: [More Information Needed]
• Paper: [More Information Needed]
• License: apache-2.0

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "unknown",
    "total_episodes": 51239,
    "total_frames": 812250,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 15,
    "splits": {
        "train": "0:51239"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": {
                "motors": [
                    "j0",
                    "j1",
                    "j2",
                    "j3",
                    "j4",
                    "j5",
                    "j6",
                    "gripper"
                ]
            },
            "fps": 15
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": {
                "motors": [
                    "joint_0",
                    "joint_1",
                    "joint_2",
                    "joint_3",
                    "joint_4",
                    "joint_5",
                    "joint_6",
                    "joint_7"
                ]
            },
            "fps": 15
        },
        "observation.velocity": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": null,
            "fps": 15
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "next.done": {
            "dtype": "bool",
            "shape": [
                1
            ],
            "names": null,
            "fps": 15
        },
        "observation.images.over_shoulder_left_camera": {
            "dtype": "video",
            "shape": [
                270,
                480,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 270,
                "video.width": 480,
                "video.codec": "avc1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 15.0,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist_cam": {
            "dtype": "video",
            "shape": [
                270,
                480,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 270,
                "video.width": 480,
                "video.codec": "avc1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 15.0,
                "video.channels": 3,
                "has_audio": false
            }
        }
    }
}

Citation

BibTeX:

[More Information Needed]