RoboPRO/RoboPRO_data

RoboPro

RoboPro is an 80-task bimanual manipulation dataset collected on a dual-arm Aloha-Agilex platform. It contains 15,999 expert teleoperation episodes (3.73 M frames at 50 Hz) recorded from three RGB cameras and synchronised 14-DoF joint commands. Each task includes a clean variant and ten cluttered variants (d6…d15) with progressively added distractor objects.

The dataset is released in LeRobot v2.1 format.

At a glance

Robot	Aloha-Agilex (dual-arm, 14-DoF)
Episodes	15,999
Frames	3,728,445
FPS	50 Hz
Cameras	3 × RGB 480×640 H.264 (cam_high, cam_left_wrist, cam_right_wrist)
Tasks	80 base × {clean, d6…d15} variants, 1,622 unique language prompts
Format	LeRobot v2.1 (Parquet + MP4)
License	CC-BY-4.0

Layout

lerobot/roboreal_all_80tasks/
├── meta/
│   ├── info.json           # schema, fps, episode count
│   ├── tasks.jsonl         # 1,622 task language descriptions
│   ├── episodes.jsonl      # per-episode metadata
│   └── episodes_stats.jsonl
├── data/
│   └── chunk-{000..015}/
│       └── episode_{000000..015998}.parquet   # 50 Hz proprioception
└── videos/
    └── chunk-{000..015}/
        └── observation.images.{cam_high,cam_left_wrist,cam_right_wrist}/
            └── episode_{000000..015998}.mp4    # H.264 yuv420p, GOP=2

Each Parquet row contains:

• observation.state — float32[14] joint state
• action — float32[14] target joint command
• timestamp, frame_index, episode_index, index, task_index

The 14-DoF channel order for both observation.state and action is:

left_waist, left_shoulder, left_elbow, left_forearm_roll,
left_wrist_angle, left_wrist_rotate, left_gripper,
right_waist, right_shoulder, right_elbow, right_forearm_roll,
right_wrist_angle, right_wrist_rotate, right_gripper

Loading

from lerobot.common.datasets.lerobot_dataset import LeRobotDataset

ds = LeRobotDataset(
    repo_id="RoboPRO/RoboPRO_data",
    root="lerobot/roboreal_all_80tasks",   # subfolder within the repo
)

Or stream individual files:

from huggingface_hub import hf_hub_download
import pyarrow.parquet as pq

p = hf_hub_download(
    "RoboPRO/RoboPRO_data",
    "lerobot/roboreal_all_80tasks/data/chunk-000/episode_000000.parquet",
    repo_type="dataset",
)
table = pq.read_table(p)

Citation

RoboPRO was introduced in the RSS 2026 Data-Centric Robotics Workshop paper Data and Evaluation Protocols for Robust Robotic Manipulation. Please cite:

@inproceedings{li2026robopro,
  title     = {Data and Evaluation Protocols for Robust Robotic Manipulation},
  author    = {Li, Zhiyuan and Eret, Charles and Zhao, Xuan and Wu, Yangzheng and Rasouli, Amir},
  booktitle = {Data-Centric Robotics Workshop at Robotics: Science and Systems (RSS)},
  year      = {2026},
  url       = {https://robopro-bench.github.io/RoboPRO/}
}

Limitations & ethical considerations

• All demonstrations were recorded on a single Aloha-Agilex unit in a fixed laboratory environment; lighting, camera intrinsics, and table geometry do not vary across episodes.
• Tasks are short-horizon (<10 s) tabletop manipulation — no long-horizon, navigation, or contact-rich (insertion, peg-in-hole) tasks.
• Demonstrations reflect the kinematic preferences of a small operator pool; they are not guaranteed to be task-optimal.
• No human faces, voices, biometric or other personal information is captured. Scenes consist of inanimate objects on a laboratory table.