GT-111/robomme_v3_eef

RoboMME-13 v3 EEF (LeRobot v3.0)

RoboMME benchmark (13 tasks) converted to LeRobot v3.0 with lossless H.264 video (CRF=0, yuv444p).

Format

• Per-task LeRobot v3.0 datasets — each task is a subdirectory with independent meta/norm_stats.json
• 8D EEF: xyz + quaternion (wxyz, scalar-first) + gripper
• State: absolute pose (RPY → quaternion)
• Action: delta position + delta quaternion (RPY → quaternion) + absolute gripper
• 2 cameras: front view (observation.images.front_rgb) + wrist view (observation.images.wrist_rgb), 256×256
• 100 episodes per task, ~531K total frames
• Raw values; use {task}/meta/norm_stats.json for per-task stats

Task List

BinFill, ButtonUnmask, ButtonUnmaskSwap, InsertPeg, MoveCube, PatternLock, PickHighlight, PickXtimes, RouteStick, StopCube, SwingXtimes, VideoPlaceButton, VideoPlaceOrder

Loading

from lerobot.datasets import LeRobotDataset

ds = LeRobotDataset("GT-111/robomme_v3_eef/BinFill")

Acknowledgments

Original dataset: Yinpei/robomme_data_h5 (Apache-2.0). RoboMME benchmark: ICML 2026.