| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - robotics |
| - franka |
| - isaac-sim |
| - cube-stacking |
| - motion-planner |
| - gepa |
| - simulation |
| - not-teleop |
| - reset-right |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
|
|
|
|
| <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=DecentVLA/moplan_Cube_Green_on_Blue_franka_right"> |
| <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/> |
| <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/> |
| </a> |
|
|
|
|
| ## Dataset Description |
|
|
| > ## ⚠️ Read before mixing this with other DecentVLA data |
| > |
| > **This is a `Franka Panda` in simulation, driven by a motion planner.** |
| > Every other dataset in this organisation is **SO-101 hardware, teleoperated by a |
| > human**. Two things therefore differ, and neither is cosmetic: |
| > |
| > - **The embodiment.** A 7-DoF Franka arm, not a 5-DoF SO-101. Different |
| > kinematics, different joint count, different workspace. |
| > - **The action space.** `action` here is 8-D — 7 arm joints plus a gripper — and |
| > its values are normalised joint targets emitted by a planner. It is not the |
| > same quantity as an SO-101 teleop action and the two are not interchangeable. |
| > |
| > Concatenating these with the SO-101 sets as if they shared an embodiment will |
| > train on incompatible action vectors. That is worth checking deliberately rather |
| > than discovering in a loss curve. |
|
|
| **Green cube on Blue cube**, Franka Panda in Isaac Sim, reset distribution **right**. |
|
|
| > `Put the green cube on top of the blue cube.` |
|
|
| ### How the actions were produced |
|
|
| **These are not teleoperated demonstrations.** Every action is the output of a |
| **motion planner discovered by GEPA**, an LLM-driven program search, and then |
| frozen: the planner named `cubestack_fast` was promoted at |
| **1.026 train / 0.937 held-out** |
| and was not tuned, retrained or edited to produce this dataset. It is the same |
| planner across all twelve datasets in this collection, which is the point — the |
| datasets differ in the scene, never in the policy that acted in it. |
|
|
| ### The reset distribution |
|
|
| The two cubes spawn in the **-y half** of the region each one's ROLE was |
| searched over, so the whole episode is displaced toward **the arm's right** |
| relative to its twin. The halves are subsets of the region the planner was |
| evolved on, which is what lets it be recorded rather than re-tuned. |
|
|
| | role | colour | spawn box, metres (x, y, z) | |
| |---|---|---| |
| | moved | green | [0.42, -0.16, 0.0235] to [0.58, -0.11, 0.0235] | |
| | base | blue | [0.42, 0.06, 0.0235] to [0.58, 0.11, 0.0235] | |
|
|
| `observation.environment_state` carries both cubes as `(xyz + quaternion)` **in |
| the robot base frame**, ordered `['moved', 'base']`. |
|
|
| Note that the moved cube's y converges toward the base cube's over an episode — |
| it is *carried onto it*. The reset distribution is the first frame of each |
| episode; that is what distinguishes this dataset from its twin. |
|
|
| ### Contents |
|
|
| | | | |
| |---|---| |
| | episodes | **98** | |
| | frames | 31,437 | |
| | fps | 15 | |
| | success rate | **0.980** (98 of 100 attempts) | |
| | cameras | `observation.images.overhead`, `observation.images.wrist`, 480x640 | |
| | state / action | 8-D — 7 arm joints + gripper | |
| | scene | `cubestack_green_on_blue_yminus` (`06f63b7c6897a4c7`) | |
|
|
| **Successful episodes only.** Failed attempts are not included and are not |
| padding: the count above is the number of episodes in which the cube was placed |
| and stayed placed after the arm returned home. |
|
|
|
|
| - **Homepage:** [More Information Needed] |
| - **Paper:** [More Information Needed] |
| - **License:** apache-2.0 |
|
|
| ## Dataset Structure |
|
|
| [meta/info.json](meta/info.json): |
| ```json |
| { |
| "codebase_version": "v3.0", |
| "fps": 15, |
| "features": { |
| "observation.images.overhead": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.fps": 15, |
| "video.channels": 3, |
| "has_audio": false, |
| "video.g": 2, |
| "video.crf": 30, |
| "video.preset": 12, |
| "video.fast_decode": 0, |
| "video.video_backend": "pyav", |
| "video.extra_options": {}, |
| "is_depth_map": false |
| } |
| }, |
| "observation.images.wrist": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.fps": 15, |
| "video.channels": 3, |
| "has_audio": false, |
| "video.g": 2, |
| "video.crf": 30, |
| "video.preset": 12, |
| "video.fast_decode": 0, |
| "video.video_backend": "pyav", |
| "video.extra_options": {}, |
| "is_depth_map": false |
| } |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 8 |
| ], |
| "names": [ |
| "panda_joint1", |
| "panda_joint2", |
| "panda_joint3", |
| "panda_joint4", |
| "panda_joint5", |
| "panda_joint6", |
| "panda_joint7", |
| "gripper" |
| ] |
| }, |
| "observation.environment_state": { |
| "dtype": "float32", |
| "shape": [ |
| 14 |
| ], |
| "names": [ |
| "moved.x", |
| "moved.y", |
| "moved.z", |
| "moved.qw", |
| "moved.qx", |
| "moved.qy", |
| "moved.qz", |
| "base.x", |
| "base.y", |
| "base.z", |
| "base.qw", |
| "base.qx", |
| "base.qy", |
| "base.qz" |
| ] |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 8 |
| ], |
| "names": [ |
| "panda_joint1", |
| "panda_joint2", |
| "panda_joint3", |
| "panda_joint4", |
| "panda_joint5", |
| "panda_joint6", |
| "panda_joint7", |
| "gripper" |
| ] |
| }, |
| "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 |
| } |
| }, |
| "total_episodes": 98, |
| "total_frames": 31437, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", |
| "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", |
| "robot_type": "franka", |
| "splits": { |
| "train": "0:98" |
| } |
| } |
| ``` |
|
|
|
|
| ## Citation |
|
|
| **BibTeX:** |
|
|
| ```bibtex |
| [More Information Needed] |
| ``` |
