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av120/panda-pick-place-lerobot-14-18-58_01-06-2026

Franka Panda Pick-and-Place — LeRobot v3 Dataset Visuomotor behavior-cloning dataset collected in MuJoCo with a simulated Franka Emika Panda arm. Recorded in LeRobot v3 format (Parquet + MP4 shards). Load from lerobot.datasets import LeRobotDataset ds = LeRobotDataset("av120/panda-pick-place-lerobot-14-18-58_01-06-2026") Task Pick up a cube and place it ~30 cm to the side using a scripted IK state-machine demonstrator. Box position is randomized ±5… See the full description on the dataset page: https://huggingface.co/datasets/av120/panda-pick-place-lerobot-14-18-58_01-06-2026.

sourceHugging Facemitupdated 4mo agoView on Hugging Face
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Dataset Card

Franka Panda Pick-and-Place — LeRobot v3 Dataset

Visuomotor behavior-cloning dataset collected in MuJoCo with a simulated Franka Emika Panda arm. Recorded in LeRobot v3 format (Parquet + MP4 shards).

Load

python
from lerobot.datasets import LeRobotDataset
ds = LeRobotDataset("av120/panda-pick-place-lerobot-14-18-58_01-06-2026")

Task

Pick up a cube and place it ~30 cm to the side using a scripted IK state-machine demonstrator. Box position is randomized ±5 cm (X) and ±8 cm (Y) each episode.

Dataset statistics

StatValue
Total episodes4
Total frames1,630
Recording FPS20 Hz
Chunk size1000 episodes / chunk
Parquet size100 MB
Video size200 MB

Features

KeyShapedtype
observation.images.base[480, 640, 3]video
observation.state[8]float32
action[8]float32
timestamp[1]float32
frame_index[1]int64
episode_index[1]int64
index[1]int64
task_index[1]int64

Timing chain

physics timestep : 0.002 s
physics steps / ctrl step : 5  →  100 Hz control
ctrl steps / recorded step : 5  →  20 Hz observation

Collection details

  • —Simulator: MuJoCo
  • —Robot: Franka Emika Panda (7-DOF + gripper)
  • —Control frequency: 100 Hz (physics sub-stepped 5× at 500 Hz)
  • —Recording frequency: 20 Hz (every 5th control step)
  • —Episode length: ~350–400 frames (~17–20 s)
  • —Policy trained: ACT (Action Chunking with Transformers)