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Juelg
/
refiner-utn-pick-cuboid-sim-v1

Tasks:
Robotics
Modalities:
Image
Time-series
Formats:
parquet
Size:
100K - 1M
ArXiv:
Tags:
manipulation
vla
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Dask
Polars
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1
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observation.images.image
imagewidth (px)
256
256
observation.images.image2
imagewidth (px)
256
256
observation.images.tactile_left
imagewidth (px)
240
240
observation.images.tactile_right
imagewidth (px)
240
240
observation.state
list
action
list
timestamp
float32
0
8.1
frame_index
int64
0
243
episode_index
int64
0
43
index
int64
0
10.7k
task_index
int64
0
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2.9
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2.933333
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2.966667
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3
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3.033333
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3.066667
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3.1
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3.133333
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3.166667
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3.2
96
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3.233333
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3.266667
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3.3
99
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99
0
End of preview. Expand in Data Studio

Simulated Franka Pick-Cube Tactile Dataset

The dataset was generated using the Robot Control Stack (RCS). RCS is a flexible Gymnasium wrapper-based robot control interface made for robot learning and specifically Vision-Language-Action (VLA) models. It unifies MuJoCo simulation and real world robot control with four supported robots: FR3/Panda, xArm7, UR5e and SO101. It ships with several pre-build apps including data collection via teleoperation and remote model inference.

Project page: https://robotcontrolstack.github.io/ RCS Code: https://github.com/RobotControlStack/robot-control-stack

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "fr3",
    "total_episodes": 797,
    "total_frames": 194468,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:797"
    },
    "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": {
        "observation.images.image": {
            "dtype": "image",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "fps": 30.0
        },
        "observation.images.image2": {
            "dtype": "image",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "fps": 30.0
        },
        "observation.images.tactile_left": {
            "dtype": "image",
            "shape": [
                320,
                240,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "fps": 30.0
        },
        "observation.images.tactile_right": {
            "dtype": "image",
            "shape": [
                320,
                240,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "fps": 30.0
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                15
            ],
            "names": [
                "state"
            ],
            "fps": 30.0,
            "description": "joints (7) + gripper (0 close, 1 open) (1) + tau_ext (7)"
        },
        "action": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": [
                "action"
            ],
            "fps": 30.0
        },
        "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
        }
    }
}

Citation

If you find this dataset or RCS useful for your work, please consider citing it:

@inproceedings{juelg2025robotcontrolstack,
  title={{Robot Control Stack}: {A} Lean Ecosystem for Robot Learning at Scale}, 
  author={Tobias J{\"u}lg and Pierre Krack and Seongjin Bien and Yannik Blei and Khaled Gamal and Ken Nakahara and Johannes Hechtl and Roberto Calandra and Wolfram Burgard and Florian Walter},
  year={2025},
  booktitle={Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  note={Accepted for publication.}
}
Downloads last month
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Size of downloaded dataset files:
92.3 GB
Size of the auto-converted Parquet files:
92.3 GB
Number of rows:
195,266

Paper for Juelg/refiner-utn-pick-cuboid-sim-v1