Axol pre-training
1000 teleoperated bimanual manipulation episodes recorded on the Axol robot, one successful demonstration per scripted scene: pick-and-place, placement orientation, reach and height, two-arm handling and small parts.
| Episodes | 1000 |
| Frames | 1,000,626 (4.63 h) |
| FPS | 60 |
| Tasks (unique instructions) | 726 |
| Robot | axol, two 7-DoF arms with grippers |
| Format | LeRobot v3.0 |
Scenes
| Group | Episodes | |
|---|---|---|
| GP | General pick and place | 300 |
| PO | Placement orientation | 250 |
| RH | Reach and height | 200 |
| TA | Two-arm handling | 150 |
| SP | Small parts | 100 |
meta/episode_scenes.csv maps each episode_index to its scene id.
Features
observation.state/action: 16 joint positions, left arm then right arm (shoulder_1..3,elbow,wrist_1..3,gripper)observation.images.overhead_right(960x600, H.264)observation.images.left_arm(960x600, H.264)observation.images.right_arm(960x600, H.264)observation.images.overhead_left(960x600, H.264)
The overhead camera is stereo; overhead_left and overhead_right are its two eyes.
Usage
from lerobot.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("almond-bot/axol_pre_training")
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