--- 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)