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Datasets:
Litian2002
/
tasl-fr3-10task-250ep-video

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
VLA
franka
fr3
real-robot
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
 Community
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Litian2002 commited on
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video-format copy (h264 mp4) for the LeRobot visualizer

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README.md ADDED
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+ ---
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+ license: apache-2.0
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+ task_categories:
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+ - robotics
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+ tags:
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+ - LeRobot
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+ - VLA
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+ - franka
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+ - fr3
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+ - real-robot
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+ configs:
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+ - config_name: default
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+ data_files: data/*/*.parquet
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+ ---
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+
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+ # TASL FR3 — 10-task real-robot manipulation dataset (video format)
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+
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+ Teleoperated (GELLO) demonstrations collected on a **Franka FR3 + Robotiq gripper**
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+ bench at TASL, in **LeRobot v2.1** format. Used to LoRA fine-tune
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+ [π0.5-DROID](https://github.com/Physical-Intelligence/openpi).
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+
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+ - **250 episodes** — exactly **25 per task**, 10 tasks
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+ - **66,463 frames** @ 15 fps (~74 minutes of teleoperation)
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+ - **2 camera views**, 224×224 RGB, stored as **h264 mp4** (500 videos)
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+
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+ > **This is the video-format copy**, made so the
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+ > [LeRobot dataset visualizer](https://huggingface.co/spaces/lerobot/visualize_dataset)
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+ > can open it (that viewer rejects image-only datasets). The image-in-parquet
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+ > original — which is what the policy was actually trained on — lives at
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+ > [`Litian2002/tasl-fr3-10task-250ep`](https://huggingface.co/datasets/Litian2002/tasl-fr3-10task-250ep).
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+ > Frame data is identical; only the storage format differs.
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+
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+ ## Tasks
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+
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+ | `task_index` | instruction |
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+ |---|---|
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+ | 0 | pick up the blue cup and place it into the red cup |
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+ | 1 | stack the red block on top of the blue block |
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+ | 2 | press the blue button |
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+ | 3 | close the lid of the wooden shape sorter box |
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+ | 4 | align the three colored blocks to the same orientation |
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+ | 5 | rotate the red block so that it is perpendicular to the blue block |
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+ | 6 | insert the orange block into the wooden shape sorter box |
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+ | 7 | insert the book into the black book stand |
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+ | 8 | pull the smaller book out of the black book stand |
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+ | 9 | pull the small block out from under the large block |
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+
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+ ## Columns
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+
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+ | column | shape / dtype | meaning |
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+ |---|---|---|
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+ | `observation.images.exterior` | 224×224×3 video | exterior camera (ZED 2i), looking at the table |
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+ | `observation.images.wrist` | 224×224×3 video | wrist camera (ZED Mini, eye-in-hand) |
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+ | `state` | float32 `[8]` | 7 joint angles + 1 gripper width |
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+ | `actions` | float32 `[8]` | 7 joint velocities + 1 gripper command, normalized to [-1, 1] |
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+ | `task_index` | int64 | index into `meta/tasks.jsonl` |
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+ | `episode_index`, `frame_index`, `index`, `timestamp` | | standard LeRobot fields |
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+ | `done`, `is_success`, `intervene_flag` | bool | **written by the collection stack but constant — carries no information** |
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+
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+ ## Notes / caveats
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+
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+ - **No filtering was applied.** Every frame recorded during teleoperation is
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+ present; no idle-frame removal, no success filtering. Idle frames are
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+ effectively absent anyway (only 0.4% of frames have max |joint velocity| < 0.05).
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+ - `is_success` and `intervene_flag` are `True` on **every** frame, so they cannot
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+ be used to select successful demonstrations.
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+ - Episode lengths: min 4, 1st pct 124, median 248, 99th pct ~700, max 971 frames.
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+ **`episode_index=172` is only 4 frames long (0.3 s) and should be dropped.**
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+ - The two camera images are a centre-square crop of a 1280×720 ZED frame,
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+ resized to 224 — roughly 56% of the original horizontal field of view.
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+ - Collected 2026-08-16 and 2026-08-20.
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+
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+ ## Loading
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+
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+ ```python
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+ from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
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+ ds = LeRobotDataset("Litian2002/tasl-fr3-10task-250ep")
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+ ```
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+
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+ Fine-tuned checkpoints trained on this dataset:
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+ [`Litian2002/pi05-droid-franka-lora-10task`](https://huggingface.co/Litian2002/pi05-droid-franka-lora-10task)
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