Datasets:

draven-alg
/

real-world-data

language:
  - en
  - zh
tags:
  - robotics
  - teleoperation
  - manipulation
  - franka
  - gello
size_categories:
  - n<1K
pretty_name: Real-world robot teleoperation tasks

Real-world robot teleoperation tasks / 真实机器人遥操作任务

Raw GELLO teleoperation recordings from a Franka FR3 with a Robotiq 2F-85 gripper. Recordings include joint-space actions, measured robot state, and exterior/wrist camera videos at a nominal 15 Hz.

Tasks / 任务

Task / 任务	Directory	Episodes	Samples	Duration	Raw size
把番茄放进盒子	place_tomato_in_box	47	19,257	21.37 min	162.56 MB
把绿色方块叠到黄色方块上	stack_green_cube_on_yellow_cube	117	45,040	49.98 min	349.25 MB
把黄色花朵插入花瓶	place_yellow_flower_in_vase	30	13,094	14.54 min	118.01 MB

Total: 194 episodes, 77,391 samples, 85.88 minutes, 629.82 MB of original recordings (1,358 files). Collection dates: 2026-10-27 through 2026-11-02 (UTC).

The directories were renamed from box_and_tomato, green_yellow_cube, and yellow_flower to describe the intended task. The original episode IDs and all recording files are preserved byte-for-byte. Task names were inferred from sampled videos; no per-episode success labels were added.

Layout

<task_id>/
  README.md
  task.json
  episodes.csv
  <episode_id>/
    metadata.json
    samples.jsonl
    trajectory.npz
    videos/
      exterior.mp4
      exterior.frames.jsonl
      wrist.mp4
      wrist.frames.jsonl

episodes.csv indexes recordings by ID, timestamp, sample count, duration, recording status, and video status. manifest.json lists file sizes, SHA-256 digests, and Git blob hashes for upload verification; the manifest itself is excluded from its file list.

Recording format

This repository preserves the project's raw recording format; it is not a converted LeRobot dataset. trajectory.npz can be opened with numpy.load(path, allow_pickle=False).

Array	Meaning
`action` (T × 8)	Seven absolute joint targets (radians), followed by gripper closedness
`proprioception` (T × 8)	Seven measured joint positions (radians), followed by measured gripper closedness
`joint_velocities` (T × 7)	Measured joint velocities
`eef_pose` (T × 7)	XYZ position in metres and WXYZ quaternion of the configured Franka end effector
`gello_input` (T × 8)	GELLO input before velocity limiting, including gripper closedness
`time_seconds`	Monotonic time relative to the episode start
`phase`	`recording` or `stopping`
`action_valid`, `proprioception_valid`, `gello_input_valid`	Masks identifying valid values; missing values may use zero placeholders
`command_submitted`, `command_id`, `submission_status`	Command submission tracking

Gripper convention: 0 = open, 1 = closed. Optional missing timestamps may be NaN. samples.jsonl also retains the submitted short trajectories and gripper events. metadata.json contains hardware configuration, recording statistics, and the final observation.

Video frames and numerical samples share a monotonic start time but are not index-synchronized. Align them using time_seconds and the frame JSONL records, which also contain source timestamps and duplicate/placeholder/gap flags. ROS source timestamps must not be directly subtracted from monotonic timestamps. Filter phase == "recording" if stopping-tail samples are unwanted.

All 194 recordings have capture status completed, while success labels are null. Capture completion does not assert manipulation success. Video quality flags from the original metadata and frame logs are retained; consult them when selecting or aligning data.