datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
duobench_raw
DuoBench Raw Dataset
This is the raw dataset collected for the FR3 Duo Benchmark DuoBench.
The format is a raw parquet format that includes additional information such as robot state (real) and sim state (sim) which are filtered out for training.
If you are looking for the converted hugging face dataset ready for training, see this dataset.
You can also manually convert this raw dataset to the hugging face format with the following command:
# install rcs:… See the full description on the dataset page: https://huggingface.co/datasets/RobotControlStack/duobench_raw.duobench
DuoBench LeRobot Dataset
This is the dataset collected for the FR3 Duo Benchmark DuoBench in LeRobot format ready for training.
The dataset is a stripped down version from the raw dataset and only contains data required for VLA training.
Checkout the raw dataset if you are interested e.g. in franka states (real) and sim states.
The raw dataset repo also shows how to convert the data into this lerobot version.
Project page: https://duobench.github.io/
DuoBench Code:… See the full description on the dataset page: https://huggingface.co/datasets/RobotControlStack/duobench.fan_robot_motor_control.json