README.md

---
pretty_name: RoboQuest Demonstrations
license: mit
task_categories:
- robotics
tags:
- LeRobot
- robotics
- mobile-manipulation
- embodied-ai
- benchmark
size_categories:
- 10M<n<100M
configs:
- config_name: puzzle_box
  data_files: lerobot/puzzle_box/data/*/*.parquet
- config_name: stamps
  data_files: lerobot/stamps/data/*/*.parquet
- config_name: wobbly_stand
  data_files: lerobot/wobbly_stand/data/*/*.parquet
- config_name: odd_parcel
  data_files: lerobot/odd_parcel/data/*/*.parquet
- config_name: painted_cubes
  data_files: lerobot/painted_cubes/data/*/*.parquet
- config_name: marked_mugs
  data_files: lerobot/marked_mugs/data/*/*.parquet
- config_name: unfamiliar_containers
  data_files: lerobot/unfamiliar_containers/data/*/*.parquet
- config_name: locked_storage
  data_files: lerobot/locked_storage/data/*/*.parquet
- config_name: search_room
  data_files: lerobot/search_room/data/*/*.parquet
- config_name: blackout_search
  data_files: lerobot/blackout_search/data/*/*.parquet
---

<div align="center">

<h1>RoboQuest Demonstrations</h1>

<h3>Generalist Physical Agents that Search, Inspect and Test</h3>

<h4><a href="https://declare-lab.github.io/RoboQuest/">Project Page</a> | <a href="https://arxiv.org/abs/2610.10388"> Paper </a> | <a href="https://github.com/declare-lab/RoboQuest">Code</a></h4>

</div>

RoboQuest is a benchmark for goal-directed embodied exploration, in which a mobile manipulator must gather
task-relevant information through physical interaction, act on the evidence, and decide for itself when the task is
done. This repository holds its demonstration dataset: **5,000 verified demonstrations** of the ten RoboQuest tasks
(500 per task, 366 hours at 20 Hz) by a Franka Panda arm on a mobile base in RoboCasa365 kitchens, each with a
two-level language annotation (stages and subtasks).

## Contents

| Path | Format | What it is |
|---|---|---|
| `lerobot/<task>/` | [LeRobot](https://github.com/huggingface/lerobot) v2.1 | Three camera streams as video, the robot state and action at every frame, the goal text as the task, and per-frame stage and subtask indices |
| `raw/<task>/<id>/` | simulator recordings | The simulator state at every tick, the actions, the stage segments and the captions: enough to replay an episode exactly and render it again at any resolution |
| `raw/manifest.json` | JSON | Every episode with its kitchen layout and style, task factors, length and the checksum of its states file |

The scene of every demonstration (`suite/v1/<task>/demos/`) and the tools that produced the LeRobot datasets
(`scripts/dataset/`) are in the [code repository](https://github.com/declare-lab/RoboQuest). The demonstration scenes
are development scenes; none of them is one of the benchmark's 500 evaluation instances.

## Tasks

| Family | Task | Episodes | Frames | Hours |
|---|---|---:|---:|---:|
| Search & Explore | Locked Storage (`locked_storage`) | 500 | 2,238,904 | 31.1 |
| | Search Room (`search_room`) | 500 | 1,807,513 | 25.1 |
| | Blackout Search (`blackout_search`) | 500 | 4,471,462 | 62.1 |
| Object Inspect | Painted Cubes (`painted_cubes`) | 500 | 3,053,005 | 42.4 |
| | Marked Mugs (`marked_mugs`) | 500 | 2,018,596 | 28.0 |
| | Unfamiliar Containers (`unfamiliar_containers`) | 500 | 3,813,854 | 53.0 |
| Testing | Puzzle Box (`puzzle_box`) | 500 | 983,469 | 13.7 |
| | Stamp Composition (`stamps`) | 500 | 2,165,174 | 30.1 |
| | Wobbly Stand (`wobbly_stand`) | 500 | 1,671,246 | 23.2 |
| | Odd Parcel (`odd_parcel`) | 500 | 4,159,509 | 57.8 |
| **Total** | | **5,000** | **26,382,732** | **366.4** |

## LeRobot features

Each `lerobot/<task>/` is a LeRobot v2.1 dataset (`robot_type: panda_omron`, 20 fps):

| Feature | Shape | Contents |
|---|---|---|
| `image`, `right_image` | 256 × 256 × 3 video | the left and right scene cameras |
| `wrist_image` | 256 × 256 × 3 video | the camera on the gripper |
| `state` | 16 | end-effector position (3) and quaternion xyzw (4) in the robot base frame, base position (3) and quaternion xyzw (4) in the world, the two gripper finger joints (2) |
| `actions` | 12 | the native RoboCasa PandaOmron action: arm motion (6, controller deltas in the base frame), gripper (1: > 0 closes, < 0 opens), base velocity (3), torso (1), mode (1) |
| `stage_index`, `subtask_index` | 1 | the frame's stage and subtask, indexing `meta/stages.jsonl` and `meta/subtasks.jsonl` |
| `task_index` | 1 | the goal text, in `meta/tasks.jsonl` |

## Usage

```python
# one task as a LeRobot dataset
from huggingface_hub import snapshot_download
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset

root = snapshot_download("declare-lab/RoboQuest", repo_type="dataset", allow_patterns="lerobot/puzzle_box/*")
dataset = LeRobotDataset("roboquest/puzzle_box", root=f"{root}/lerobot/puzzle_box")
frame = dataset[0]
```

```bash
# the raw recordings of one task, then render an episode again at another resolution with the code repository
hf download declare-lab/RoboQuest --repo-type dataset --include "raw/puzzle_box/*" --local-dir roboquest-data
git clone https://github.com/declare-lab/RoboQuest && cd RoboQuest
MUJOCO_GL=egl python scripts/dataset/rerender.py ../roboquest-data/raw/puzzle_box/<id> out --sim-size 512 --out-size 256 --mp4
```

## Citation

```bibtex
@article{liu2026roboquest,
  title   = {{RoboQuest}: Generalist Physical Agents that Search, Inspect and Test},
  author  = {Liu, Renhang and Majumder, Navonil and Pala, Tej Deep and Poria, Soujanya},
  journal = {arXiv preprint arXiv:2610.10388},
  year    = {2026},
  url     = {https://arxiv.org/abs/2610.10388}
}
```

## License

The dataset is released under the MIT License, as is the
[code repository](https://github.com/declare-lab/RoboQuest).