clemgris/RealRobot_push-blocks

RealRobot push-blocks 🦾

Real-world Franka FR3 cube-pushing demonstrations with language instructions, collected by replaying simulated expert trajectories open-loop on hardware rather than by teleoperation. Each real recording is paired with the simulated trajectory that produced it, so the dataset also serves as a measurement of the sim-to-real gap.

📝 A Sim-to-Real Integration Pipeline for Training and Deployment of Chunk-Based VLA Manipulation Policies (ISIR, Sorbonne Université / CNRS). Pipeline source: https://gitlab.isir.upmc.fr/kappel/sim2real_public_chunk_control/

At a glance 👁️

Example : Push the red block left

Episodes	200 (50 per task)
Frames	11,267
Episode length	49–64 frames
Robot	Franka FR3, single arm
Camera	Orbbec Femto Bolt RGB, fixed, native 1000×1000
Format	LeRobot v3.0

Tasks

Four language-conditioned combinations of two motions and two target objects:

• Push the red block left
• Push the red block right
• Push the blue block left
• Push the blue block right

The instruction string is stored per frame as the LeRobot task field.

Data fields

observation.state — shape (6,), float32

Absolute end-effector pose in the robot base frame, which is also the world frame origin in both the simulated and real setups.

index	name	meaning
0–2	x, y, z	end-effector position, metres
3–5	rx, ry, rz	end-effector orientation

action — shape (7,), float32

End-effector deltas, not absolute poses. Applied cumulatively to the current pose to obtain the next target frame.

index	name	meaning
0–2	dx, dy, dz	translation increment, metres
3–5	drx, dry, drz	orientation increment, same convention as state
6	gripper	binary command

observation.images.static — (H, W, 3) uint8, H.264

Fixed third-person RGB view. Native capture is 1000×1000.

Loading

from lerobot.datasets.lerobot_dataset import LeRobotDataset

ds = LeRobotDataset("clemgris/RealRobot_push-blocks")
print(ds.num_episodes, ds.num_frames, ds.fps)

sample = ds[0]
sample["observation.state"]           # (6,)
sample["action"]                      # (7,)
sample["observation.images.static"]   # (3, H, W)
sample["task"]                        # instruction string

Citation

@misc{kappel2026sim2real,
  title  = {A Sim-to-Real Integration Pipeline for Training and Deployment
            of Chunk-Based VLA Manipulation Policies},
  author = {Kappel, Mathilde and Grislain, Cl\'emence and Chetouani, Mohamed
            and Sigaud, Olivier and Khoramshahi, Mahdi and Annabi, Louis
            and Ben Amar, Fa\"iz and Doncieux, St\'ephane},
  year   = {2026},
}