Datasets:
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observation.state list | action list | next.done bool 2
classes | timestamp float32 0 83 | frame_index int64 0 498 | episode_index int64 0 54 | index int64 0 21.4k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
Farpoint UR10e Robotiq 2F-85
Farpoint UR10e Robotiq 2F-85 is an experimental LeRobot v3 dataset of physics-based cube pick-and-place episodes generated with Isaac Sim and the Farpoint simulation pipeline.
- Dataset: ur10e-robotiq-2f85
- Source: xuwenyihust/farpoint
- Dataset version:
v0.0.0 - Status: experimental baseline
Dataset summary
The release contains all 55 successful, dataset-valid episodes from an accepted cube-position collection:
- Robot: Universal Robots UR10e
- Gripper: Robotiq 2F-85
- Task: contact-only cube pick, transport, and placement
- Workspace: 0.26 m by 0.20 m, divided into a 5 by 5 position grid
- Coverage: all 25 cells, with at least two successful episodes per cell
- Collection outcome: 55 successful episodes from 66 task attempts (83.3%)
- Public splits: 44 train, 6 validation, and 5 test episodes
- Observation: front-camera RGB video and robot joint state
- Action: commanded robot joint position
The release includes every successful, dataset-valid collection episode. It does not hide failed attempts in the collection evidence, but failed attempts are not demonstrations and are not included in the LeRobot dataset.
The default Dataset Viewer configuration displays frame-level training data.
Select the episode_metadata configuration to inspect one structured metadata
row per episode. Public split counts follow the LeRobot episode ranges recorded
in meta/info.json; the frame Viewer uses one physical train table because
LeRobot stores all episode ranges in the same Parquet shard.
Versioning
Dataset versions are independent of the Farpoint GitHub repository and Python package version. The dataset records the exact Farpoint Git revision and simulation provenance used to generate each episode.
v0.0.0 is the first experimental clean baseline. No compatibility guarantee
is made for future pre-1.0 dataset releases.
Intended use
This dataset is intended for robot-learning data pipeline development, behavior-cloning experiments, simulation evaluation, and analysis of position-conditioned manipulation. Its small scale and simulation-only origin make it unsuitable as a standalone foundation for real-world robot deployment.
License
Farpoint-authored dataset content is released under the Creative Commons Attribution 4.0 International license (CC BY 4.0):
https://creativecommons.org/licenses/by/4.0/
This license applies only to content that Farpoint has the right to license. Isaac Sim, NVIDIA Omniverse, NVIDIA-provided robot assets, textures, and other third-party components are not relicensed or redistributed by Farpoint. Their use remains subject to the original provider terms.
Limitations
- Simulation-only data; no sim-to-real performance is claimed.
- One robot and gripper configuration.
- One cube shape and one task family.
- Position variation is broader than other scene variation dimensions.
- Successful demonstrations only; failures remain in collection evidence.
Attribution
Please cite the Farpoint source repository and identify the dataset repository and revision used in your work.
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