| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - vision-language-action |
| - imitation-learning |
| - manipulation |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| # Kinova Gen3 cube stacking (simulated) |
|
|
| 360 demonstrations of color-conditioned cube stacking on a simulated Kinova Gen3, generated in |
| MuJoCo by a scripted inverse-kinematics oracle and published in |
| [LeRobot](https://github.com/huggingface/lerobot) v3.0 format. A red, a green, and a blue cube |
| sit on a table. Each episode has a prompt such as `stack the red cube on the green cube`, and the |
| arm picks the named cube and places it on the named target. All six color orderings are present, |
| 60 episodes each. |
|
|
| The reference checkpoint trained on this dataset is |
| [`pi05_kinova_gen3_cube_stack_sim`](https://huggingface.co/PickNikRobotics/pi05_kinova_gen3_cube_stack_sim). |
|
|
| ## Contents |
|
|
| | | | |
| |---|---| |
| | Episodes | 360 | |
| | Frames | 59,312 | |
| | Tasks | 6 | |
| | Robot | Kinova Gen3 7-DoF with a Robotiq 2F-85 gripper | |
| | Control rate | 10 Hz | |
| | Format | LeRobot v3.0 | |
|
|
| | feature | dtype | shape | contents | |
| |---|---|---|---| |
| | `observation.state` | float32 | [8] | measured position of `joint_1`...`joint_7` and `robotiq_85_left_knuckle_joint` | |
| | `action` | float32 | [8] | commanded position, same channel order | |
| | `observation.images.scene` | video | [480, 480, 3] | fixed view of the workspace | |
| | `observation.images.wrist` | video | [480, 480, 3] | wrist-mounted camera | |
| | `observation.images.overview` | video | [480, 480, 3] | top-down view | |
|
|
| Video is H.264, `yuv420p`. Cube positions are randomized per episode within the arm's top-down |
| reach. |
|
|
| `meta/train_layouts.jsonl` gives the starting cube pose for each episode, keyed by |
| `episode_index`. `meta/eval_layouts.jsonl` gives the 150 held-out layouts used to evaluate the |
| reference checkpoint. Both record cube positions and yaws in the order red, green, blue, with |
| `held` and `target` indexing into that order. |
|
|
| ## License |
|
|
| Apache-2.0. The data is PickNik-generated: simulated trajectories and renders from our own MuJoCo |
| scene. |
|
|
