datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
d3il_data_all
Combined D3IL dataset (LeRobot v2.1)
This repository combines all eight D3IL demonstration datasets into one
task-conditioned LeRobot v2.1 dataset.
observation.state is zero-padded to 22 values and action to
8 values. state_is_pad and action_is_pad identify padding.
source_episode_index preserves the episode number within the source dataset,
and source_fps preserves its original nominal FPS. The repository FPS is
29, the rate shared by seven of the eight source datasets; no… See the full description on the dataset page: https://huggingface.co/datasets/shivakanthsujit/d3il_data_all.D3IL-Vision
D3IL Vision + LeRobot / LingBot-VA
A local derivative of the D3IL demonstrations with two-camera vision coverage across all eight task subsets, LeRobot v2.1 trajectories, and precomputed LingBot-VA video/text features.
Upload status: See UPLOAD_STATUS.json. This repository is complete only when its status is complete. Files may appear incrementally during the initial upload.
Contents
Subset
Episodes
Valid transitions
Latent clips
avoiding
96
7,305
96… See the full description on the dataset page: https://huggingface.co/datasets/Zeus-Omni/D3IL-Vision.d3il_avoiding_vision_224
D3IL Avoiding Vision 224
This is the original D3IL Avoiding demonstration dataset converted to the
LeRobot v2.1 format and augmented with state-aligned 224 x 224 RGB observations.
It contains all 96 original Avoiding demonstrations (7,305 training frames),
covering the benchmark's 24 avoidance modes with four demonstrations per mode.
The numeric demonstrations are preserved from the original D3IL pickle logs.
Dataset summary
Property
Value
Episodes
96… See the full description on the dataset page: https://huggingface.co/datasets/shivakanthsujit/d3il_avoiding_vision_224.d3il_sorting_4boxesThis dataset was created using 🤗 LeRobot.
d3il_stackingThis dataset was created using 🤗 LeRobot.
d3il_sorting_6This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "franka_panda",
"total_episodes": 1661,
"total_frames": 846405,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 29,
"splits": {
"train": "0:1661"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/yongjincho/d3il_sorting_6.d3il_aligningThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "franka_panda",
"total_episodes": 1000,
"total_frames": 193881,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 29,
"splits": {
"train": "0:1000"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/yongjincho/d3il_aligning.d3il_sorting_2boxesThis dataset was created using 🤗 LeRobot.
d3il_sorting_4This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "franka_panda",
"total_episodes": 1054,
"total_frames": 352552,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 29,
"splits": {
"train": "0:1054"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/yongjincho/d3il_sorting_4.d3il_sorting_2boxes_suboptimal_trajectoriesThis dataset was created using 🤗 LeRobot.
d3il_sorting_suboptimal_trajectories_2This dataset was created using 🤗 LeRobot.
d3il_sorting_suboptimal_trajectories_2_labeledThis dataset was created using 🤗 LeRobot.
d3il_sorting_6boxesThis dataset was created using 🤗 LeRobot.
d3il_sorting_2boxes_suboptimal_trajectories_successesThis dataset was created using 🤗 LeRobot.
d3il_sorting_2boxes_filtered_suboptimal_2This dataset was created using 🤗 LeRobot.
d3il_sorting_2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": null,
"total_episodes": 540,
"total_frames": 101072,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 28,
"splits": {
"train": "0:540"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/floseligmann/d3il_sorting_2.d3il_avoidingThis dataset was created using 🤗 LeRobot.
d3il_sorting_2boxes_filtered_suboptimalThis dataset was created using 🤗 LeRobot.
d3il_pushingThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "franka_panda",
"total_episodes": 2000,
"total_frames": 463386,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 29,
"splits": {
"train": "0:2000"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/yongjincho/d3il_pushing.d3il_avoidingThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "franka_panda",
"total_episodes": 96,
"total_frames": 7305,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 29,
"splits": {
"train": "0:96"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/yongjincho/d3il_avoiding.d3il_sorting_2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "franka_panda",
"total_episodes": 600,
"total_frames": 112128,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 29,
"splits": {
"train": "0:600"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/yongjincho/d3il_sorting_2.d3il_insertingThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "franka_panda",
"total_episodes": 800,
"total_frames": 792387,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 29,
"splits": {
"train": "0:800"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/yongjincho/d3il_inserting.d3il_stackingThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "franka_panda",
"total_episodes": 1094,
"total_frames": 685270,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 33,
"splits": {
"train": "0:1094"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/yongjincho/d3il_stacking.d3il_sorting_4