dancher00/pickcube-v1-lerobot

PickCube-v1 LeRobot Dataset

Robot manipulation dataset for pick and place tasks in proper LeRobot format.

Dataset Structure

• Episodes: 5
• Total Frames: 250
• Average Episode Length: 50 frames
• Task: Pick up cube and place at target location

Features

• observation.state: Robot joint positions [6D float32]
• observation.images.main: RGB camera feed (256x256)
• action: Robot control actions [6D float32]
• language_instruction: Task description

Files Structure

dataset/
├── data/chunk-000/          # Parquet files per episode
├── meta/                    # Metadata files
├── videos/chunk-000/        # MP4 videos per episode
└── README.md

Usage

from lerobot.common.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset("USERNAME/REPO_NAME")
print(f"Loaded {len(dataset)} frames")

# Access sample
sample = dataset[0]
state = sample['observation.state']
action = sample['action'] 
image = sample['observation.images.main']

Training SmolVLA

python lerobot/scripts/train.py \
    --policy.path=lerobot/smolvla_base \
    --policy.repo_id=USERNAME/model_name \
    --dataset.repo_id=USERNAME/REPO_NAME \
    --batch_size=8 \
    --steps=2000 \
    --policy.device=cuda