Faless/reasoning_smoke_test
Robotics • 0.5B • Updated • 37
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piper-apple-picking-v3
LeRobot v3.0 dataset for Piper apple-picking in Isaac Lab + real robot, with per-frame reasoning labels.
- 1000 trajectories = 960 sim (cuRobo auto-collected) + 40 real (Piper teleop)
- 1,388,956 frames @ 30 fps
- Cameras:
observation.images.ego(wrist) +observation.images.front - State 8D (6 arm joints + gripper + contact
tau), action 7D - Task:
Pick the red apples one by one and place them into the green basket
Reasoning label columns
Per-frame auxiliary labels for reasoning heads:
| column | shape | meaning |
|---|---|---|
apple_bbox |
(5,5) | front-cam apple boxes [visible, x1, y1, x2, y2], normalized |
apple_bbox_ego |
(5,5) | wrist-cam apple boxes |
target_idx |
(1,) | index of the target apple (−1 = none) |
phase |
(1,) | grasp-phase code |
gripper_bbox |
(2,5) | gripper box per camera |
Real episodes (last 40): apple_bbox / apple_bbox_ego / phase are live
(Grounding-DINO detections); target_idx and gripper_bbox are masked
(−1 / 0) because GD-DINO can't produce them reliably on the real Piper — the 960
sim episodes provide that supervision from privileged simulator state.
Load
from lerobot.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("Faless/piper-apple-picking-v3", revision="v3.0")
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