RM65 Box Pick and Place
This dataset contains 81 episodes and 79,827 frames for the task: Pick up the purple-and-white box and place it into the cardboard box.
Data
Each observation has two 640x480 RGB cameras: a Gemini 335 third-person camera and a D435i wrist camera. The LeRobot timeline declares nominal 20 FPS. Collection rates measured approximately 18-19 FPS; the observed maximum frame gap was below 185 ms. No frames were resampled.
observation.state stores TCP XYZ/RPY and gripper position. observation.joint_position stores six RM65 joint positions in radians. action stores delta-action units: delta XYZ in metres, delta RPY in radians, and target gripper position in the 0-1 range. observation.raw_timestamp_s is an episode-relative timing value. Numeric source episode and frame indices support audit traceability.
Collection and use
The demonstrations were manually filtered for successful box pick-and-place runs and structurally validated with decoded camera samples. They are intended for robotics research and imitation learning. The dataset may include natural timing variation and camera skew; users needing exact timing should use the relative timing feature.
Use of this dataset requires attribution under CC BY 4.0.
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