Datasets:
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observation.state list | action list | timestamp float32 0 20.9 | frame_index int64 0 314 | episode_index int64 0 268 | index int64 0 66.3k | task_index int64 0 224 |
|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
chess_bench
General chess manipulation demonstrations: a privileged scripted IK expert in NVIDIA Isaac
Lab (Arena) picks up any piece from the standard opening and carries it to a random central
square. Actions are the native DROID joint-position command (7 absolute arm joint targets +
binary gripper), so pi0.5/openpi/GR00T consume them directly. Each episode is labelled with its
own instruction (move the {color} {type} from {src} to {dst}); rollouts are kept
whether or not they succeed (per-episode success flag preserved in the source HDF5).
- Robot: Franka Panda + Robotiq 2F-85 (DROID platform); expert drives a DifferentialIKController (dls) into stiff PD joint-position control.
- Control / record rate: 15 Hz.
- Episodes: 269 (269 scored success by the privileged check).
Demonstrations per piece
| piece | episodes |
|---|---|
black bishop |
17 |
black king |
16 |
black knight |
17 |
black pawn |
43 |
black queen |
12 |
black rook |
12 |
white bishop |
27 |
white king |
4 |
white knight |
28 |
white pawn |
51 |
white queen |
12 |
white rook |
30 |
Observation / action / state layout
| key | dtype | shape | meaning / units |
|---|---|---|---|
observation.images.front |
video (H.264, CRF 15) | (224,224,3) | external RGB, uint8 |
observation.images.wrist |
video (H.264, CRF 15) | (224,224,3) | eye-in-hand RGB, uint8 |
observation.state |
float32 | (8,) | joint_position (7, rad) + gripper_position (1, 0=open 1=closed) |
action |
float32 | (8,) | 7 absolute arm joint-position targets (rad) + gripper (1: 1=close, 0=open) |
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