Datasetpublic

DAVIAN-Robotics/fr3-mp-ins-round-v3-F1cm-3000-merged

This dataset was created using LeRobot. Dataset Description Simulated Franka FR3 manipulation demonstrations for the FMB-Round task, generated by the MP data source. Motion-planning oracle (CaP-X) demonstrations. Summary Task: FMB-Round Data source: MP Episodes: 3000 Frames: 422149 Control / video rate: 20 Hz LeRobot codebase format: v3.0 Cameras: wrist_cam, over_shoulder_left_camera Action convention Read this before training on the data — it is… See the full description on the dataset page: https://huggingface.co/datasets/DAVIAN-Robotics/fr3-mp-ins-round-v3-F1cm-3000-merged.

sourceHugging Faceapache-2.0updated 7d agoView on Hugging Face

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Dataset Card

This dataset was created using LeRobot.

Dataset Description

Simulated Franka FR3 manipulation demonstrations for the FMB-Round task, generated by the MP data source.

Motion-planning oracle (CaP-X) demonstrations.

Summary

—Task: FMB-Round
—Data source: MP
—Episodes: 3000
—Frames: 422149
—Control / video rate: 20 Hz
—LeRobot codebase format: v3.0
—Cameras: wristcam, overshoulderleftcamera

Action convention

Read this before training on the data — it is the most common source of silent error.

—Layout: absolute_panda_joint1..7_target_droid_frame,gripper_close_target
—Recorded format: None
—Label convention: None
—Action repeat: None

Actions are stored absolute. Delta-action training must derive the delta at load time against the chunk-start proprioceptive state; do not apply a second delta transform.

Simulation plant

—Canonical env: fr3-peg-insert-round-v3
—Env fingerprint: 6dbaa1e302accdebe77ef7f496ac3723a9a4d3517be7b71e9109c772072ef1ec
—Gripper: panda
—Initial-state distribution: pregrasp:0.03,15
—Frame convention: env_relative_pos+world_quat;world_frame_velocity

Provenance

—Generator: None
—Policy checkpoint: capx-oracle:fr3_peg_insert_round
—Episodes attempted / accepted: None / None
—Instruction: 'Insert the cylindrical peg into its matching hole on the board'

The full provenance record ships inside the dataset at meta/provenance.json.

Notes

—This is simulation data rendered in Isaac Sim, not real-robot capture.
—Episode lengths vary by data source; check meta/episodes before fixing a chunk size.
—The v3.0 tag is the LeRobot codebase format version, not a dataset version.

Visualize

Open in the LeRobot dataset visualizer

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

Dataset Structure

meta/info.json:

json

{
    "codebase_version": "v3.0",
    "robot_type": "unknown",
    "total_episodes": 3000,
    "total_frames": 422149,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:3000"
    },
    "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": 20
        },
        "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": 20
        },
        "observation.velocity": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": null,
            "fps": 20
        },
        "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": 20
        },
        "observation.images.wrist_cam": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "avc1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20.0,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.over_shoulder_left_camera": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "avc1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20.0,
                "video.channels": 3,
                "has_audio": false
            }
        }
    }
}

Citation

BibTeX:

bibtex

[More Information Needed]