Datasets:
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license: apache-2.0
task_categories:
- robotics
size_categories:
- 10K<n<100K
---
# 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
```python
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
```bibtex
@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},
}
``` |