THULab/roboturk_lerobot

RoboTurk (Sawyer) (TsFile)

Apache TsFile version of IPEC-COMMUNITY/roboturk_lerobot.

Overview

RoboTurk is a large-scale robot manipulation dataset of human teleoperation demonstrations collected on a Sawyer robot arm, distributed here as part of the Open X-Embodiment collection in the LeRobot v2.1 format. Each record is one control frame within a demonstration episode, holding the robot's 8-D proprioceptive state and the 7-D end-effector action.

• Scale: 1,796 episodes, 168,423 frames total (≈ 94 frames per episode on average).
• Sampling rate: 10 fps.
• Robot: Sawyer arm.
• Tasks: 3 — object search, layout laundry, create tower (see task_index).

Schema (TsFile structure)

• Time (INT64, milliseconds) — round(timestamp * 1000), restarting at 0 for each episode.
• episode_index (TAG) — source episode id (0–1795).
• task_index (TAG) — source task id (0 = object search, 1 = layout laundry, 2 = create tower).
• frame_index (FIELD, INT64) — frame position within the episode.
• sample_index (FIELD, INT64) — the source global index column, renamed.
• observation_state_0 .. observation_state_7 (FIELD, FLOAT) — the 8-D state (motor_0..7), flattened.
• action_0 .. action_6 (FIELD, FLOAT) — the 7-D action (x, y, z, roll, pitch, yaw, gripper), flattened.

All 1,796 episodes share a single .tsfile; episode_index and task_index are the device (TAG) dimensions. Query one episode with WHERE episode_index=0, or a whole task with WHERE task_index=1.

Vector columns are flattened keeping the source name (observation.state → observation_state_0..7, action → action_0..6). The source timestamp column is dropped because it equals Time / 1000 seconds; frame_index is kept.

Usage

Read the .tsfile files with the Apache TsFile Java or Python SDK.

Source & license

• Original dataset: https://huggingface.co/datasets/IPEC-COMMUNITY/roboturk_lerobot
• Author / publisher: IPEC-COMMUNITY (Hugging Face); original RoboTurk dataset.
• Paper: RoboTurk — A Crowdsourcing Platform for Robotic Skill Learning through Imitation (https://arxiv.org/abs/1811.02790)
• Part of the Open X-Embodiment collection.
• Camera video stream (observation.images.front_rgb, 448×448 RGB @ 10 fps) is not included in this repository; see the original dataset's videos/ directory for it.
• License: apache-2.0.