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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Franka Pick-Cube — Kitchen Scene (100 episodes)
Synthetic expert demonstrations of a Franka Panda picking a red cube in a realistic kitchen environment (rustic_kitchen GLB scene), generated with the Genesis physics simulator on an AMD Radeon AI PRO R9700 (RDNA4) GPU.
Part of the Robot Synthetic Data Generation Workshop.
See also the companion flat-scene dataset:
lidavidsh/franka-pick-100ep-genesis
Dataset Details
| Item | Value |
|---|---|
| Format | LeRobot v3.0, AV1 video |
| Scene | rustic_kitchen (126.9 MB GLB mesh) |
| Anchor | floor_origin |
| Episodes / Frames | 100 / 13,500 |
| FPS | 30 |
| Cameras | 2 (overhead up + lateral side), 640×480 |
| Action space | 9-DoF joint position (7 arm + 2 finger) |
| Robot | Franka Panda |
| Success rate | 100/100 = 100% |
| Size | ~209 MB |
| Generation GPU | AMD Radeon AI PRO R9700 (RDNA4, gfx1201) |
| Software | Genesis 0.4.5, LeRobot 0.4.4, ROCm 7.2, seed=42 |
Usage
from lerobot.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("lidavidsh/franka-pick-kitchen-100ep-genesis")
print(f"Episodes: {dataset.meta.total_episodes}, Frames: {len(dataset)}")
Training with SmolVLA
python scripts/02_train_vla.py \
--dataset-id lidavidsh/franka-pick-kitchen-100ep-genesis \
--n-steps 2000 --batch-size 4 --num-workers 4 \
--save-dir outputs/smolvla_kitchen
Evaluation (kitchen scene)
python scripts/04_eval_custom_scene.py \
--policy-type smolvla \
--checkpoint outputs/smolvla_kitchen/final \
--dataset-id lidavidsh/franka-pick-kitchen-100ep-genesis \
--n-episodes 10 --max-steps 150 --seed 99
Scene Comparison
| Flat Scene | Kitchen Scene | |
|---|---|---|
| Dataset | franka-pick-100ep-genesis |
this dataset |
| 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 |
Data Generation
Generated with 02_gen_data_custom_scene.py using IK-planned trajectories:
home → hover above cube → descend → close gripper → lift → hold
Cube XY positions are randomized within the robot's reachable workspace (seed=42 for reproducibility).
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