datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
multi-task-tcc-robosuite
XIRL
Overview
Setup
Datasets
Code Navigation
Experiments: Reproducing Paper Results
Extending XIRL
Acknowledgments
Overview
Code release for our CoRL 2021 conference paper:
XIRL: Cross-embodiment Inverse Reinforcement Learning
Kevin Zakka1,3, Andy Zeng1, Pete Florence1, Jonathan Tompson1, Jeannette Bohg2, and Debidatta Dwibedi1
Conference on Robot Learning (CoRL) 2021
1Robotics at Google,
2Stanford… See the full description on the dataset page: https://huggingface.co/datasets/Renton-Ren/multi-task-tcc-robosuite.robosuite-lift-pi05
Robosuite Lift — π0.5 zero-shot rollouts (1000 episodes)
1000 rollouts of the π0.5 policy (pi05_libero checkpoint) operating zero-shot on the
robosuite Lift task ("lift the red cube").
No fine-tuning was done on Lift — the LIBERO checkpoint is applied directly, since LIBERO is built
on robosuite and exposes an identical Panda + OSC_POSE interface.
Every rollout is kept, success or failure — each episode carries a success flag. Failures are
intentionally included (they are useful… See the full description on the dataset page: https://huggingface.co/datasets/jacob3333/robosuite-lift-pi05.plex_robosuite_rawVGCP_robosuite
VGCP: learning Inverse Dynamics Model using Inverse Reinforcement Learning
Preparation
1. Encoder for reward computation: The encoder is pretrained using TCC, and each is for one task. Download pretrain_runs.zip
2. Datasets for conditioning goals: The goals in observation are from a randomly sampled sequence in demonstrations. They are psuedo-goals. Download and put datasets under VGCP.
3. Finally, prepare video generative… See the full description on the dataset page: https://huggingface.co/datasets/Renton-Ren/VGCP_robosuite.eden_robosuiterobosuite_suboptimal_6SARM-robosuite-can-mh-stages
SARM Robosuite PickPlaceCan (Multi-Human) — Stage-Annotated Dataset
Stage-annotated demonstration dataset for the PickPlaceCan task from robosuite,
formatted in LeRobot v2.1 format for training
SARM (Stage-Aware Reward Models).
Dataset Summary
Property
Value
Task
Pick and place can
Robot
Panda (Franka Emika)
Environment
robosuite PickPlaceCan
Data source
robosuite multi-human (MH) demonstrations
Episodes
300
Total frames
62,756
FPS
20… See the full description on the dataset page: https://huggingface.co/datasets/poolvarine/SARM-robosuite-can-mh-stages.SARM-robosuite-can-mg-stagesThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 100,
"total_frames": 15000,
"total_tasks": 1,
"total_videos": 200,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:100"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/poolvarine/SARM-robosuite-can-mg-stages.robosuite_mhThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 20,
"features": {
"observation.images.agentview": {
"dtype": "video",
"shape": [
84,
84,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height":… See the full description on the dataset page: https://huggingface.co/datasets/TRI-ML/robosuite_mh.metamdp-robosuite-franka-moving_ball-l3-structured-train-state16-h50-v1robosuite-1.5_assetrobosuite_phThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 20,
"features": {
"observation.images.agentview": {
"dtype": "video",
"shape": [
84,
84,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height":… See the full description on the dataset page: https://huggingface.co/datasets/TRI-ML/robosuite_ph.robosuite-1.4_assetmetamdp-robosuite-franka-moving_ball-l2-structured-train-state16-h50-v1robosuite_mgThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 20,
"features": {
"observation.images.agentview": {
"dtype": "video",
"shape": [
84,
84,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height":… See the full description on the dataset page: https://huggingface.co/datasets/TRI-ML/robosuite_mg.robosuite_can_phrobosuite_lift_phrobosuite_square_phrobosuite_panda_lift_demo_to_lerobot_umiThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": null,
"total_episodes": 3,
"total_frames": 1384,
"total_tasks": 3,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:3"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": null,
"features": {… See the full description on the dataset page: https://huggingface.co/datasets/Project-Rosey/robosuite_panda_lift_demo_to_lerobot_umi.robosuite_panda_lift_demo_to_lerobot_stateThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": null,
"total_episodes": 3,
"total_frames": 1384,
"total_tasks": 3,
"total_videos": 6,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:3"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/Project-Rosey/robosuite_panda_lift_demo_to_lerobot_state.robosuite_expert_datarobosuite_mimicgen_100
Robosuite MimicGen 100 — State-Matched Recorded Dataset
This dataset contains 300 episodes (100 per task) of scripted expert demonstrations for three robosuite manipulation tasks, recorded by replaying mimicgen HDF5 demos in a matched simulation environment.
Tasks
Task
Episodes
Frames
Episode Length
Success Rate
Coffee
100
22,225
210–249 (mean 222)
100/100
Square_D0
100
15,328
135–172 (mean 153)
100/100
Stack
99
10,912
82–131 (mean 110)
96/100
Total
299… See the full description on the dataset page: https://huggingface.co/datasets/dlsmarta/robosuite_mimicgen_100.robosuite_panda_lift_demo_to_lerobotThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": null,
"total_episodes": 3,
"total_frames": 1384,
"total_tasks": 3,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:3"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": null,
"features": {… See the full description on the dataset page: https://huggingface.co/datasets/Project-Rosey/robosuite_panda_lift_demo_to_lerobot.metamdp-robosuite-franka-moving_ball-structured-source-100x4-v1
Formal structured-expert source corpus
robosuite_multitask_wristThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 20,
"features": {
"observation.images.agentview": {
"dtype": "video",
"shape": [
84,
84,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height":… See the full description on the dataset page: https://huggingface.co/datasets/anthony-liang/robosuite_multitask_wrist.robosuite_square_bc_rnnThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "panda",
"total_episodes": 94,
"total_frames": 14530,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:94"
},
"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/qualiaadmin/robosuite_square_bc_rnn.loop-pi05-robosuite-3This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "unknown",
"total_episodes": 10,
"total_frames": 134,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:10"
},
"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/lava123456/loop-pi05-robosuite-3.RobosuiteLiftConvertedRobosuite_Square_image_abs_with_stateloop-pi05-robosuite-5This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "unknown",
"total_episodes": 2,
"total_frames": 80,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:2"
},
"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/lava123456/loop-pi05-robosuite-5.