Datasets:
This dataset was created using LeRobot.
Dataset Description
Machine-generated DexSuite data for reach with the Franka arm and the robotiq end-effector: 200 successful rollouts of the paper's low-dimensional (state) diffusion policy checkpoint trained on the 50 human demonstrations (checkpoint model_epoch_100_reach_franka_robotiq_success_1.0.pth; 200 successes in 230 attempts, success rate 0.87; env seed = base seed + attempt index). All episodes are successful, recorded at 20 Hz with a static front camera and a wrist camera (224x224 RGB video), proprioception and ground-truth object state, under DexSuite's shared observation/action interface (actions are OSC pose offsets from the episode-start end-effector pose plus gripper/hand joint targets). As in every DexSuite set, frame t stores the observation before action t; the success flag on the last frame refers to the transition it triggers, so the terminal state itself is not stored. Reach episodes were recorded to a 3 cm target radius (the benchmark evaluates at 5 cm) so demonstrations keep a margin.
- Homepage: https://huggingface.co/dexsuite
- Paper: DexSuite (RA-L 2026 submission)
- License: apache-2.0
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": null,
"total_episodes": 200,
"total_frames": 10121,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:200"
},
"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",
"features": {
"obs.state.gripper.qpos": {
"dtype": "float32",
"shape": [
6
]
},
"obs.state.gripper.qtorque": {
"dtype": "float32",
"shape": [
6
]
},
"obs.state.gripper.qvel": {
"dtype": "float32",
"shape": [
6
]
},
"obs.state.gripper.tcp_pos": {
"dtype": "float32",
"shape": [
3
]
},
"obs.state.gripper.tcp_quat": {
"dtype": "float32",
"shape": [
4
]
},
"reward": {
"dtype": "float32",
"shape": [
1
]
},
"truncated": {
"dtype": "bool",
"shape": [
1
]
},
"success": {
"dtype": "bool",
"shape": [
1
]
},
"failure": {
"dtype": "bool",
"shape": [
1
]
},
"action": {
"dtype": "float32",
"shape": [
8
]
},
"obs.state.manipulator.eef_pos": {
"dtype": "float32",
"shape": [
1,
3
]
},
"obs.state.manipulator.eef_quat": {
"dtype": "float32",
"shape": [
1,
4
]
},
"obs.state.manipulator.qpos": {
"dtype": "float32",
"shape": [
7
]
},
"obs.state.manipulator.qtorque": {
"dtype": "float32",
"shape": [
7
]
},
"obs.state.manipulator.qvel": {
"dtype": "float32",
"shape": [
7
]
},
"obs.state.other.action": {
"dtype": "float32",
"shape": [
8
]
},
"obs.state.other.last_action": {
"dtype": "float32",
"shape": [
8
]
},
"obs.state.other.target_pos": {
"dtype": "float32",
"shape": [
3
]
},
"obs.state.other.target_quat": {
"dtype": "float32",
"shape": [
4
]
},
"obs.cameras.front.rgb": {
"dtype": "video",
"shape": [
224,
224,
3
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"obs.cameras.wrist.rgb": {
"dtype": "video",
"shape": [
224,
224,
3
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"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
}
},
"task": "reach",
"options": null
}
Citation
BibTeX:
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