Datasetpublic

lidavidsh/franka-pick-kitchen-100ep-genesis

Franka Pick-Cube — Kitchen Scene (100 episodes) Synthetic expert demonstrations of a Franka Panda picking a red cube in a realistic kitchen environment (rustic_kitchen GLB scene), generated with the Genesis physics simulator on an AMD Radeon AI PRO R9700 (RDNA4) GPU. Part of the Robot Synthetic Data Generation Workshop. See also the companion flat-scene dataset: lidavidsh/franka-pick-100ep-genesis Dataset Details Item Value Format LeRobot v3.0, AV1… See the full description on the dataset page: https://huggingface.co/datasets/lidavidsh/franka-pick-kitchen-100ep-genesis.

sourceHugging Faceapache-2.0updated 6mo agoView on Hugging Face

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Franka Pick-Cube — Kitchen Scene (100 episodes)

Synthetic expert demonstrations of a Franka Panda picking a red cube in a realistic kitchen environment (rustic_kitchen GLB scene), generated with the Genesis physics simulator on an AMD Radeon AI PRO R9700 (RDNA4) GPU.

Part of the Robot Synthetic Data Generation Workshop.

See also the companion flat-scene dataset: `lidavidsh/franka-pick-100ep-genesis`

Dataset Details

Item	Value
Format	LeRobot v3.0, AV1 video
Scene	`rustic_kitchen` (126.9 MB GLB mesh)
Anchor	`floor_origin`
Episodes / Frames	100 / 13,500
FPS	30
Cameras	2 (overhead `up` + lateral `side`), 640×480
Action space	9-DoF joint position (7 arm + 2 finger)
Robot	Franka Panda
Success rate	100/100 = 100%
Size	~209 MB
Generation GPU	AMD Radeon AI PRO R9700 (RDNA4, gfx1201)
Software	Genesis 0.4.5, LeRobot 0.4.4, ROCm 7.2, seed=42

Usage

python

from lerobot.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset("lidavidsh/franka-pick-kitchen-100ep-genesis")
print(f"Episodes: {dataset.meta.total_episodes}, Frames: {len(dataset)}")

Training with SmolVLA

bash

python scripts/02_train_vla.py \
  --dataset-id lidavidsh/franka-pick-kitchen-100ep-genesis \
  --n-steps 2000 --batch-size 4 --num-workers 4 \
  --save-dir outputs/smolvla_kitchen

Evaluation (kitchen scene)

bash

python scripts/04_eval_custom_scene.py \
  --policy-type smolvla \
  --checkpoint outputs/smolvla_kitchen/final \
  --dataset-id lidavidsh/franka-pick-kitchen-100ep-genesis \
  --n-episodes 10 --max-steps 150 --seed 99

Scene Comparison

	Flat Scene	Kitchen Scene
Dataset	`franka-pick-100ep-genesis`	this dataset
Environment	Plain ground plane	Realistic rustic kitchen (GLB mesh)
Visual complexity	Low (solid colors)	High (textured surfaces, furniture)
Size	~80 MB	~209 MB
Script	`01_gen_data.py`	`02_gen_data_custom_scene.py`

Data Generation

Generated with 02_gen_data_custom_scene.py using IK-planned trajectories:

home → hover above cube → descend → close gripper → lift → hold

Cube XY positions are randomized within the robot's reachable workspace (seed=42 for reproducibility).