RobotControlStack/rcs_utn_green_box_v1

Simple Teleoperated Franka Pick-Cube Dataset

This repository contains the franka dataset in parquet format used to train Octo, OpenVLA and PiZero in the paper Robot Control Stack: A Lean Ecosystem for Robot Learning at Scale. The Robot Control Stack (RCS) is a flexible Gymnasium wrapper-based robot control interface made for robot learning and specifically Vision-Language-Action (VLA) models. It unifies MuJoCo simulation and real world robot control with four supported robots: FR3/Panda, xArm7, UR5e and SO101. It ships with several pre-build apps including data collection via teleoperation and remote model inference.

Project page: https://robotcontrolstack.github.io/ RCS Code: https://github.com/RobotControlStack/robot-control-stack

If you are looking for the ready-to-train lerobot converted version of this dataset, see this dataset.

Citation

If you find this dataset or RCS useful for your work, please consider citing it:

@inproceedings{juelg2025robotcontrolstack,
  title={{Robot Control Stack}: {A} Lean Ecosystem for Robot Learning at Scale}, 
  author={Tobias J{\"u}lg and Pierre Krack and Seongjin Bien and Yannik Blei and Khaled Gamal and Ken Nakahara and Johannes Hechtl and Roberto Calandra and Wolfram Burgard and Florian Walter},
  year={2025},
  booktitle={Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  note={Accepted for publication.}
}