Datasets:
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observation.state listlengths 8 8 | observation.environment_state listlengths 14 14 | action listlengths 8 8 | timestamp float32 0 21.5 | frame_index int64 0 322 | episode_index int64 0 49 | index int64 0 15.3k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Description
⚠️ Read before mixing this with other DecentVLA data
This is a
Franka Pandain simulation (Isaac Sim 5.0), driven by a motion planner. The SO-101 datasets in this organisation are hardware, teleoperated by a human: a different embodiment (7-DoF arm plus gripper, 8-D state and action) and a different kind of action. Concatenating across the two trains on incompatible action vectors.
Claim 1 of ACCORD, set 2, client a (near-left). Red cube on blue cube, one prompt:
Put the red cube on top of the blue cube.
The split this dataset belongs to
Four clients see the same table, the same two cubes and the same prompt; they differ only in where the cubes spawn. The red cube (the one that is moved) spawns in an 8 x 8 cm square at the centre of the table, one 4 x 4 cm quarter of that square per client, on the same side as the client's blue corner. The blue cube (the base) spawns in an 8 x 8 cm square in one corner, one corner per client: a near-left, b far-left, c near-right, d far-right, where near is toward the arm and left is the arm's left (+y). Set 1 therefore makes the clients' demonstrations diverge only at the place; set 2 also at the pick.
| role | cell | spawn box, metres (x, y, z) |
|---|---|---|
| moved (red) | red_a |
[0.46, 0.0, 0.0235] to [0.5, 0.04, 0.0235] |
| base (blue) | blue_a |
[0.34, 0.06, 0.0235] to [0.42, 0.14, 0.0235] |
Sibling datasets: moplan_Cube_Red_on_Blue_franka_claim1_set{1,2}_client_{a,b,c,d}.
The twelve moplan_Cube_<Moved>_on_<Base>_franka_<left|right> datasets are the
same rig, planner and schema on the earlier left/right split.
How the actions were produced
Every action is the output of the planner cubestack_fast, found by
GEPA program search and frozen (promoted at
1.026 train / 0.937 held-out
on its own region; 93 of 96 state-only layouts on these cells before any
episode was recorded). The same planner produced all eight claim 1 datasets
and the twelve earlier ones. Layouts were drawn from seed 77021; the
dataset holds exactly 50 successful episodes, of which
6 came from a top-up run at seed offset 100000 to replace failed
attempts, merged with lerobot's aggregate_datasets (source runs:
claim1_set2_client_a_2026-09-09_23-21-27, claim1_set2_client_a_topup_2026-09-10_03-19-30). Failed attempts are not included.
observation.environment_state carries both cubes as (xyz + quaternion) in
the robot base frame, ordered ['moved', 'base']; the reset distribution is the
first frame of each episode.
Contents
| episodes | 50 |
| frames | 15,259 |
| fps | 15 |
| cameras | observation.images.overhead, observation.images.wrist, 480x640 |
| state / action | 8-D: 7 arm joints + gripper |
| scene | claim1_set2 (d9542a6a72bc2b8f) |
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
{
"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": 50,
"total_frames": 15259,
"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": "0:50"
}
}
Citation
BibTeX:
[More Information Needed]
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