Datasets:
README: merge task table into a task/episode index (eval id, episode ranges, frame counts, demo links)
4dd6d2d verified | license: apache-2.0 | |
| task_categories: | |
| - robotics | |
| tags: | |
| - LeRobot | |
| - VLA | |
| - franka | |
| - fr3 | |
| - real-robot | |
| configs: | |
| - config_name: default | |
| data_files: data/*/*.parquet | |
| # TASL FR3 — 10-task real-robot manipulation dataset (video format) | |
| Teleoperated (GELLO) demonstrations collected on a **Franka FR3 + Robotiq gripper** | |
| bench at TASL, in **LeRobot v2.1** format. Used to LoRA fine-tune | |
| [π0.5-DROID](https://github.com/Physical-Intelligence/openpi). | |
| - **250 episodes** — exactly **25 per task**, 10 tasks | |
| - **66,463 frames** @ 15 fps (~74 minutes of teleoperation) | |
| - **2 camera views**, 224×224 RGB, stored as **h264 mp4** (500 videos) | |
| > **This is the video-format copy**, made so the | |
| > [LeRobot dataset visualizer](https://huggingface.co/spaces/lerobot/visualize_dataset) | |
| > can open it (that viewer rejects image-only datasets). The image-in-parquet | |
| > original — which is what the policy was actually trained on — lives at | |
| > [`Litian2002/tasl-fr3-10task-250ep`](https://huggingface.co/datasets/Litian2002/tasl-fr3-10task-250ep). | |
| > Frame data is identical; only the storage format differs. | |
| ## Tasks & episode index | |
| Episodes are grouped by task and numbered contiguously — **`task_index = k` covers | |
| `episode_{25k}` … `episode_{25k+24}`**, 25 demonstrations each. | |
| `eval id` is the short code used by the evaluation harness and by the rollout datasets | |
| (e.g. `T4-a-OOD1_r02_F`). It is not stored in this dataset, but the two orderings line | |
| up one-to-one. | |
| | eval id | `task_index` | instruction | episodes | frames (median / total) | watch first demo | | |
| |---|---|---|---|---|---| | |
| | **T1-a** | 0 | pick up the blue cup and place it into the red cup | `0`–`24` | 264 / 6,788 | [episode_0](https://huggingface.co/spaces/lerobot/visualize_dataset?dataset=Litian2002%2Ftasl-fr3-10task-250ep-video&episode=0) | | |
| | **T1-b** | 1 | stack the red block on top of the blue block | `25`–`49` | 353 / 10,051 | [episode_25](https://huggingface.co/spaces/lerobot/visualize_dataset?dataset=Litian2002%2Ftasl-fr3-10task-250ep-video&episode=25) | | |
| | **T2-a** | 2 | press the blue button | `50`–`74` | 175 / 4,678 | [episode_50](https://huggingface.co/spaces/lerobot/visualize_dataset?dataset=Litian2002%2Ftasl-fr3-10task-250ep-video&episode=50) | | |
| | **T2-b** | 3 | close the lid of the wooden shape sorter box | `75`–`99` | 206 / 5,831 | [episode_75](https://huggingface.co/spaces/lerobot/visualize_dataset?dataset=Litian2002%2Ftasl-fr3-10task-250ep-video&episode=75) | | |
| | **T3-a** | 4 | align the three colored blocks to the same orientation | `100`–`124` | 193 / 5,099 | [episode_100](https://huggingface.co/spaces/lerobot/visualize_dataset?dataset=Litian2002%2Ftasl-fr3-10task-250ep-video&episode=100) | | |
| | **T3-b** | 5 | rotate the red block so that it is perpendicular to the blue block | `125`–`149` | 270 / 7,228 | [episode_125](https://huggingface.co/spaces/lerobot/visualize_dataset?dataset=Litian2002%2Ftasl-fr3-10task-250ep-video&episode=125) | | |
| | **T4-a** | 6 | insert the orange block into the wooden shape sorter box | `150`–`174` | 258 / 6,295 | [episode_150](https://huggingface.co/spaces/lerobot/visualize_dataset?dataset=Litian2002%2Ftasl-fr3-10task-250ep-video&episode=150) | | |
| | **T4-b** | 7 | insert the book into the black book stand | `175`–`199` | 259 / 7,602 | [episode_175](https://huggingface.co/spaces/lerobot/visualize_dataset?dataset=Litian2002%2Ftasl-fr3-10task-250ep-video&episode=175) | | |
| | **T5-a** | 8 | pull the smaller book out of the black book stand | `200`–`224` | 188 / 4,813 | [episode_200](https://huggingface.co/spaces/lerobot/visualize_dataset?dataset=Litian2002%2Ftasl-fr3-10task-250ep-video&episode=200) | | |
| | **T5-b** | 9 | pull the small block out from under the large block | `225`–`249` | 317 / 8,078 | [episode_225](https://huggingface.co/spaces/lerobot/visualize_dataset?dataset=Litian2002%2Ftasl-fr3-10task-250ep-video&episode=225) | | |
| | | | **all 10 tasks** | **250** | **66,463** | | | |
| ### File paths | |
| Each episode is three files, indexed by the same zero-padded number: | |
| ``` | |
| videos/chunk-000/observation.images.exterior/episode_%06d.mp4 # table view (ZED 2i) | |
| videos/chunk-000/observation.images.wrist/episode_%06d.mp4 # eye-in-hand (ZED Mini) | |
| data/chunk-000/episode_%06d.parquet # state / actions / indices | |
| ``` | |
| So `T4-a` (insert the orange block) is `episode_000150` … `episode_000174`. | |
| - Browse every exterior video: [`videos/chunk-000/observation.images.exterior`](https://huggingface.co/datasets/Litian2002/tasl-fr3-10task-250ep-video/tree/main/videos/chunk-000/observation.images.exterior) | |
| - Step through any episode with video + state/action plots side by side: [LeRobot visualizer](https://huggingface.co/spaces/lerobot/visualize_dataset?dataset=Litian2002%2Ftasl-fr3-10task-250ep-video&episode=0) — change `&episode=` to any index 0–249. | |
| ## Columns | |
| | column | shape / dtype | meaning | | |
| |---|---|---| | |
| | `observation.images.exterior` | 224×224×3 video | exterior camera (ZED 2i), looking at the table | | |
| | `observation.images.wrist` | 224×224×3 video | wrist camera (ZED Mini, eye-in-hand) | | |
| | `state` | float32 `[8]` | 7 joint angles + 1 gripper width | | |
| | `actions` | float32 `[8]` | 7 joint velocities + 1 gripper command, normalized to [-1, 1] | | |
| | `task_index` | int64 | index into `meta/tasks.jsonl` | | |
| | `episode_index`, `frame_index`, `index`, `timestamp` | | standard LeRobot fields | | |
| | `done`, `is_success`, `intervene_flag` | bool | **written by the collection stack but constant — carries no information** | | |
| ## Notes / caveats | |
| - **No filtering was applied.** Every frame recorded during teleoperation is | |
| present; no idle-frame removal, no success filtering. Idle frames are | |
| effectively absent anyway (only 0.4% of frames have max |joint velocity| < 0.05). | |
| - `is_success` and `intervene_flag` are `True` on **every** frame, so they cannot | |
| be used to select successful demonstrations. | |
| - Episode lengths: min 4, 1st pct 124, median 248, 99th pct ~700, max 971 frames. | |
| **`episode_index=172` is only 4 frames long (0.3 s) and should be dropped.** | |
| - The two camera images are a centre-square crop of a 1280×720 ZED frame, | |
| resized to 224 — roughly 56% of the original horizontal field of view. | |
| - Collected 2026-08-16 and 2026-08-20. | |
| ## Loading | |
| ```python | |
| from lerobot.common.datasets.lerobot_dataset import LeRobotDataset | |
| ds = LeRobotDataset("Litian2002/tasl-fr3-10task-250ep") | |
| ``` | |
| Fine-tuned checkpoints trained on this dataset: | |
| [`Litian2002/pi05-droid-franka-lora-10task`](https://huggingface.co/Litian2002/pi05-droid-franka-lora-10task) | |