Datasets:
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observation.state list | action list | timestamp float32 0 4.47 | frame_index int64 0 134 | episode_index int64 0 99 | index int64 0 13.5k | task_index int64 0 0 |
|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
Franka Pick-Cube — Flat Scene (100 episodes)
Synthetic pick-and-place dataset generated with the Genesis simulator on AMD RDNA4 (Radeon AI PRO R9700). A scripted Franka Panda arm picks up a cube from randomized table positions, recorded as two-camera video observations in LeRobot v3.0 format.
Part of the Robot Synthetic Data Generation Workshop.
Kitchen scene variant:
lidavidsh/franka-pick-kitchen-100ep-genesis— same task with a realistic rustic kitchen GLB environment (~209 MB).
Dataset Overview
| Item | Value |
|---|---|
| Robot | Franka Panda 7-DOF |
| Task | Pick up a cube from a random position on the table |
| Scene | Flat ground plane |
| Episodes | 100 |
| Frames per episode | 135 |
| Total frames | 13,500 |
| FPS | 30 |
| Cameras | 2 (up + side), 640×480, AV1 video |
| Format | LeRobot v3.0 |
| Size | ~80 MB |
Scene Comparison
| Flat Scene (this dataset) | Kitchen Scene | |
|---|---|---|
| Dataset | this dataset | franka-pick-kitchen-100ep-genesis |
| Environment | Plain ground plane | Realistic rustic kitchen (GLB mesh) |
| Visual complexity | Low (solid colors) | High (textured surfaces, furniture) |
| Size | ~80 MB | ~209 MB |
| Script | 01_gen_data.py |
02_gen_data_custom_scene.py |
Generation Details
| Item | Value |
|---|---|
| Simulator | Genesis 0.4.5 |
| GPU | AMD Radeon AI PRO R9700 (RDNA4, gfx1201) |
| ROCm | 7.2.0 |
| Rendering | EGL + Mesa radeonsi (hardware GPU rasterization) |
| Random seed | 42 |
| Cube X range | [0.4, 0.7] m |
| Cube Y range | [-0.2, 0.2] m |
| Success rate | 100/100 = 100% |
| Generation time | 629s (~6.3s/ep) |
The dataset was generated using:
python scripts/01_gen_data.py \
--n-episodes 100 \
--repo-id local/rdna4-video-100ep \
--fps 30 \
--no-bbox-detection
Features
| Feature | Shape | Type |
|---|---|---|
observation.state |
(9,) | float32 — 7 joint pos + 2 gripper pos |
action |
(9,) | float32 — 7 joint pos + 2 gripper pos |
observation.images.up |
(3, 480, 640) | video (AV1) |
observation.images.side |
(3, 480, 640) | video (AV1) |
Usage
Load with LeRobot
from lerobot.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("lidavidsh/franka-pick-100ep-genesis")
print(f"Episodes: {dataset.meta.total_episodes}, Frames: {len(dataset)}")
sample = dataset[0]
print(sample["observation.state"].shape) # torch.Size([9])
print(sample["observation.images.up"].shape) # torch.Size([3, 480, 640])
Train SmolVLA
python scripts/02_train_vla.py \
--dataset-id lidavidsh/franka-pick-100ep-genesis \
--n-steps 2000 \
--batch-size 4 \
--num-workers 4 \
--save-dir outputs/smolvla_genesis
Requirements
lerobot==0.4.4torchcodec>=0.2.1(for video decoding; on ROCm, build from source to avoid CUDA dependency)- PyTorch 2.x
Benchmark Results (RDNA4)
| Config | Training Time | Per-step | GPU Utilization |
|---|---|---|---|
| Video nw=4 | 24.5 min | 0.73 s/step | 96% |
License
Apache 2.0
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