Search is not available for this dataset
observation.state list | action list | timestamp float32 0 26.7 ⌀ | frame_index int64 0 533 ⌀ | episode_index int64 0 9 ⌀ | index int64 0 4.07k ⌀ | task_index int64 0 0 ⌀ |
|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
Franka Panda Pick-and-Place — LeRobot v3 Dataset
Visuomotor behavior-cloning dataset collected in MuJoCo with a simulated Franka Emika Panda arm. Recorded in LeRobot v3 format (Parquet + MP4 shards).
Load
from lerobot.datasets import LeRobotDataset
ds = LeRobotDataset("av120/panda-pick-place-lerobot-14-24-53_01-06-2026")
Task
Pick up a cube and place it ~30 cm to the side using a scripted IK state-machine demonstrator. Box position is randomized ±5 cm (X) and ±8 cm (Y) each episode.
Dataset statistics
| Stat | Value |
|---|---|
| Total episodes | 10 |
| Total frames | 4,069 |
| Recording FPS | 20 Hz |
| Chunk size | 1000 episodes / chunk |
| Parquet size | 100 MB |
| Video size | 200 MB |
Features
| Key | Shape | dtype |
|---|---|---|
observation.images.base |
[480, 640, 3] | video |
observation.state |
[8] | float32 |
action |
[8] | float32 |
timestamp |
[1] | float32 |
frame_index |
[1] | int64 |
episode_index |
[1] | int64 |
index |
[1] | int64 |
task_index |
[1] | int64 |
Timing chain
physics timestep : 0.002 s
physics steps / ctrl step : 5 → 100 Hz control
ctrl steps / recorded step : 5 → 20 Hz observation
Collection details
- Simulator: MuJoCo
- Robot: Franka Emika Panda (7-DOF + gripper)
- Control frequency: 100 Hz (physics sub-stepped 5× at 500 Hz)
- Recording frequency: 20 Hz (every 5th control step)
- Episode length:
350–400 frames (17–20 s) - Policy trained: ACT (Action Chunking with Transformers)
- Downloads last month
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