Traly/RoboChallenge-lerobot

---
license: apache-2.0
tags:
- LeRobot
- robotics
- RoboChallenge
task_categories:
- robotics
configs:
- config_name: arrange_flowers
data_files:
- split: train
path: arrange_flowers/data/*/*.parquet
- config_name: arrange_fruits_in_basket
data_files:
- split: train
path: arrange_fruits_in_basket/data/*/*.parquet
- config_name: arrange_paper_cups
data_files:
- split: train
path: arrange_paper_cups/data/*/*.parquet
- config_name: clean_dining_table
data_files:
- split: train
path: clean_dining_table/data/*/*.parquet
- config_name: fold_dishcloth
data_files:
- split: train
path: fold_dishcloth/data/*/*.parquet
- config_name: hang_toothbrush_cup
data_files:
- split: train
path: hang_toothbrush_cup/data/*/*.parquet
- config_name: make_vegetarian_sandwich
data_files:
- split: train
path: make_vegetarian_sandwich/data/*/*.parquet
- config_name: move_objects_into_box
data_files:
- split: train
path: move_objects_into_box/data/*/*.parquet
- config_name: open_the_drawer
data_files:
- split: train
path: open_the_drawer/data/*/*.parquet
- config_name: place_shoes_on_rack
data_files:
- split: train
path: place_shoes_on_rack/data/*/*.parquet
- config_name: plug_in_network_cable
data_files:
- split: train
path: plug_in_network_cable/data/*/*.parquet
- config_name: pour_fries_into_plate
data_files:
- split: train
path: pour_fries_into_plate/data/*/*.parquet
- config_name: press_three_buttons
data_files:
- split: train
path: press_three_buttons/data/*/*.parquet
- config_name: put_cup_on_coaster
data_files:
- split: train
path: put_cup_on_coaster/data/*/*.parquet
- config_name: put_opener_in_drawer
data_files:
- split: train
path: put_opener_in_drawer/data/*/*.parquet
- config_name: search_green_boxes
data_files:
- split: train
path: search_green_boxes/data/*/*.parquet
- config_name: set_the_plates
data_files:
- split: train
path: set_the_plates/data/*/*.parquet
- config_name: shred_scrap_paper
data_files:
- split: train
path: shred_scrap_paper/data/*/*.parquet
- config_name: sort_books
data_files:
- split: train
path: sort_books/data/*/*.parquet
- config_name: sort_electronic_products
data_files:
- split: train
path: sort_electronic_products/data/*/*.parquet
- config_name: stack_bowls
data_files:
- split: train
path: stack_bowls/data/*/*.parquet
- config_name: stack_color_blocks
data_files:
- split: train
path: stack_color_blocks/data/*/*.parquet
- config_name: turn_on_faucet
data_files:
- split: train
path: turn_on_faucet/data/*/*.parquet
- config_name: turn_on_light_switch
data_files:
- split: train
path: turn_on_light_switch/data/*/*.parquet
- config_name: water_potted_plant
data_files:
- split: train
path: water_potted_plant/data/*/*.parquet
- config_name: wipe_the_table
data_files:
- split: train
path: wipe_the_table/data/*/*.parquet
---

# RoboChallenge-lerobot

> **Note:** The original dataset comes from [RoboChallenge/Table30](https://huggingface.co/datasets/RoboChallenge/Table30). This is an **unofficial** conversion to [LeRobot](https://github.com/huggingface/lerobot) v3.0 format.

## Dataset Description

RoboChallenge benchmark dataset in LeRobot v3.0 format. Contains 26 manipulation tasks with 22,111 episodes and 29,162,844 frames in total.

Each subtask is a separate config (subset). To load a specific subtask:

```python
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset("Traly/RoboChallenge-lerobot", subsets=["arrange_flowers"])
```

Or load via HuggingFace datasets:

```python
from datasets import load_dataset

ds = load_dataset("Traly/RoboChallenge-lerobot", "arrange_flowers")
```

## Subtasks

| Subtask | Episodes | Frames | FPS | Robot |
| --- | --- | --- | --- | --- |
| `arrange_flowers` | 973 | 1,729,903 | 30 | arx5 |
| `arrange_fruits_in_basket` | 965 | 2,229,219 | 30 | ur5 |
| `arrange_paper_cups` | 773 | 1,576,111 | 30 | arx5 |
| `clean_dining_table` | 982 | 1,603,318 | 30 | aloha |
| `fold_dishcloth` | 958 | 1,171,347 | 30 | arx5 |
| `hang_toothbrush_cup` | 576 | 344,470 | 30 | ur5 |
| `make_vegetarian_sandwich` | 1,397 | 1,677,603 | 30 | aloha |
| `move_objects_into_box` | 792 | 969,474 | 30 | franka |
| `open_the_drawer` | 590 | 420,979 | 30 | arx5 |
| `place_shoes_on_rack` | 937 | 1,151,867 | 30 | arx5 |
| `plug_in_network_cable` | 515 | 466,785 | 30 | aloha |
| `pour_fries_into_plate` | 1,534 | 1,524,966 | 30 | aloha |
| `press_three_buttons` | 578 | 413,563 | 30 | franka |
| `put_cup_on_coaster` | 649 | 295,152 | 30 | arx5 |
| `put_opener_in_drawer` | 974 | 764,976 | 30 | aloha |
| `search_green_boxes` | 661 | 756,081 | 30 | arx5 |
| `set_the_plates` | 599 | 2,088,877 | 30 | ur5 |
| `shred_scrap_paper` | 767 | 811,337 | 30 | ur5 |
| `sort_books` | 920 | 2,946,192 | 30 | ur5 |
| `sort_electronic_products` | 948 | 2,008,774 | 30 | arx5 |
| `stack_bowls` | 1,047 | 467,403 | 30 | aloha |
| `stack_color_blocks` | 579 | 431,550 | 30 | ur5 |
| `turn_on_faucet` | 1,005 | 774,245 | 30 | aloha |
| `turn_on_light_switch` | 580 | 260,707 | 30 | arx5 |
| `water_potted_plant` | 956 | 1,094,621 | 30 | arx5 |
| `wipe_the_table` | 856 | 1,183,324 | 30 | arx5 |
| **Total** | **22,111** | **29,162,844** | | |

## Dataset Structure

Each subtask follows the LeRobot v3.0 format:

```
<subtask>/
├── data/
│ └── chunk-000/
│ ├── file-000.parquet
│ └── ...
├── meta/
│ ├── info.json
│ ├── stats.json
│ ├── tasks.parquet
│ └── episodes/
│ └── chunk-000/
└── videos/
├── observation.global_image/
├── observation.right_image/
└── observation.wrist_image/
```

**Features** (from `meta/info.json`):

```json
{
"observation.wrist_image": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.global_image": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.right_image": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.state": {
"dtype": "float32",
"shape": [
7
],
"names": [
"state"
]
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"action"
]
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
```

## Citation

```bibtex
[More Information Needed]
```