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+ ---
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+ license: cc-by-4.0
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+ task_categories:
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+ - robotics
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+ tags:
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+ - robotics
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+ ---
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+ # PhysicalAI-Robotics-Kitchen-Sim-Demos
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+
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+ We provide a 600 hours of human-teleoperated demonstrations across 316 different tasks, totalling 55k trajectories.
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+ The datasets are collected using Franka Panda robot with an Omron mobile base.
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+
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+ The datasets follow the LeRobot format. Here is an overview of important elements of each dataset:
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+
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+ <details>
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+ <summary><b>Click to expand dataset structure</b></summary>
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+
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+ ```
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+ lerobot/
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+ ├── meta/ # Metadata files describing the dataset
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+ │ ├── info.json # Dataset info (robot type, episodes, frames, fps, features)
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+ │ ├── tasks.jsonl # Language instructions with task indices
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+ │ ├── episodes.jsonl # Per-episode metadata (index, instruction, length)
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+ │ ├── episodes_stats.jsonl # Per-episode statistics for actions/proprioception
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+ │ ├── stats.json # Aggregated statistics across all episodes
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+ │ ├── modality.json # Info contained in observations and action vectors
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+ │ └── embodiment.json # Embodiment information
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+ │
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+ ├── data/ # Low-dimensional trajectory data (parquet files)
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+ │ └── chunk-<chunk_id>/
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+ │ └── episode_<episode_id>.parquet # Proprioception, actions, dones, timestamps
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+ │
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+ ├── videos/ # MP4 video files for each camera view
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+ │ └── chunk-<chunk_id>/
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+ │ ├── observation.images.robot0_agentview_left/
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+ │ │ └── episode_<episode_id>.mp4 # Left third-person camera
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+ │ ├── observation.images.robot0_agentview_right/
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+ │ │ └── episode_<episode_id>.mp4 # Right third-person camera
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+ │ └── observation.images.robot0_eye_in_hand/
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+ │ └── episode_<episode_id>.mp4 # Eye-in-hand camera
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+ │
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+ └── extras/ # MuJoCo-specific metadata (non-standard)
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+ ├── dataset_meta.json # Environment args and controller configs
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+ └── episode_<episode_id>/ # Per-episode extras
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+ ├── ep_meta.json # Episode metadata (kitchen layout, style, fixtures, objects)
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+ ├── model.xml.gz # Compressed MJCF MuJoCo model XML
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+ └── states.npz # Raw MuJoCo states for replay (not for training)
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+ ```
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+
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+ </details>
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+
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+
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+ | Dataset Name | #trajectories |
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+ | - | -|
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+ | pretrain/atomic/OpenBlenderLid/20250822/lerobot.tar | 100 |
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267
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268
+ | pretrain/composite/PrepareSausageCheese/20250805/lerobot.tar | 100 |
269
+ | pretrain/composite/PrepareSmoothie/20250829/lerobot.tar | 100 |
270
+ | pretrain/composite/PrepareSoupServing/20250724/lerobot.tar | 100 |
271
+ | pretrain/composite/PrepareStoringLeftovers/20250903/lerobot.tar | 100 |
272
+ | pretrain/composite/PrepareToast/20250714/lerobot.tar | 100 |
273
+ | pretrain/composite/PrepForSanitizing/20250715/lerobot.tar | 100 |
274
+ | pretrain/composite/PrepForTenderizing/20250721/lerobot.tar | 100 |
275
+ | pretrain/composite/PrepMarinatingMeat/20250714/lerobot.tar | 100 |
276
+ | pretrain/composite/PrepSinkForCleaning/20250806/lerobot.tar | 100 |
277
+ | pretrain/composite/PreRinseStation/20250717/lerobot.tar | 100 |
278
+ | pretrain/composite/PreSoakPan/20250715/lerobot.tar | 100 |
279
+ | pretrain/composite/PressChicken/20250717/lerobot.tar | 100 |
280
+ | pretrain/composite/PrewashFoodAssembly/20250714/lerobot.tar | 100 |
281
+ | pretrain/composite/PrewashFoodSorting/20250718/lerobot.tar | 100 |
282
+ | pretrain/composite/QuickThaw/20250725/lerobot.tar | 100 |
283
+ | pretrain/composite/RearrangeFridgeItems/20250827/lerobot.tar | 100 |
284
+ | pretrain/composite/RecycleBottlesBySize/20250717/lerobot.tar | 100 |
285
+ | pretrain/composite/RecycleSodaCans/20250719/lerobot.tar | 100 |
286
+ | pretrain/composite/RecycleStackedYogurt/20250717/lerobot.tar | 100 |
287
+ | pretrain/composite/RefillCondimentStation/20250827/lerobot.tar | 100 |
288
+ | pretrain/composite/ReheatMeal/20250901/lerobot.tar | 100 |
289
+ | pretrain/composite/RemoveBroiledFish/20250805/lerobot.tar | 100 |
290
+ | pretrain/composite/RemoveCuttingBoardItems/20250805/lerobot.tar | 100 |
291
+ | pretrain/composite/ReorganizeFrozenVegetables/20250807/lerobot.tar | 100 |
292
+ | pretrain/composite/RestockBowls/20250725/lerobot.tar | 100 |
293
+ | pretrain/composite/RestockCannedFood/20250827/lerobot.tar | 100 |
294
+ | pretrain/composite/RestockPantry/20250714/lerobot.tar | 100 |
295
+ | pretrain/composite/RestockSinkSupplies/20250827/lerobot.tar | 100 |
296
+ | pretrain/composite/RetrieveIceTray/20250801/lerobot.tar | 100 |
297
+ | pretrain/composite/RetrieveMeat/20250728/lerobot.tar | 100 |
298
+ | pretrain/composite/ReturnHeatedFood/20250901/lerobot.tar | 100 |
299
+ | pretrain/composite/ReturnWashingSupplies/20250717/lerobot.tar | 100 |
300
+ | pretrain/composite/RinseBowls/20250718/lerobot.tar | 100 |
301
+ | pretrain/composite/RinseCuttingBoard/20250805/lerobot.tar | 100 |
302
+ | pretrain/composite/RinseSinkBasin/20250728/lerobot.tar | 100 |
303
+ | pretrain/composite/RotatePan/20250717/lerobot.tar | 100 |
304
+ | pretrain/composite/SanitizePrepCuttingBoard/20250806/lerobot.tar | 100 |
305
+ | pretrain/composite/ScalePortioning/20250807/lerobot.tar | 100 |
306
+ | pretrain/composite/ScrubBowl/20250717/lerobot.tar | 100 |
307
+ | pretrain/composite/ScrubCuttingBoard/20250805/lerobot.tar | 100 |
308
+ | pretrain/composite/SearingMeat/20250716/lerobot.tar | 100 |
309
+ | pretrain/composite/SeasoningSteak/20250731/lerobot.tar | 100 |
310
+ | pretrain/composite/ServeSteak/20250718/lerobot.tar | 100 |
311
+ | pretrain/composite/ServeTea/20250805/lerobot.tar | 100 |
312
+ | pretrain/composite/ServeWarmCroissant/20250731/lerobot.tar | 100 |
313
+ | pretrain/composite/SetBowlsForSoup/20250716/lerobot.tar | 100 |
314
+ | pretrain/composite/SetupBowls/20250801/lerobot.tar | 100 |
315
+ | pretrain/composite/SetupButterPlate/20250801/lerobot.tar | 100 |
316
+ | pretrain/composite/SetUpCuttingStation/20250729/lerobot.tar | 100 |
317
+ | pretrain/composite/SetupFruitBowl/20250801/lerobot.tar | 100 |
318
+ | pretrain/composite/SetupFrying/20250724/lerobot.tar | 100 |
319
+ | pretrain/composite/SetupSodaBowl/20250801/lerobot.tar | 100 |
320
+ | pretrain/composite/SetUpSpiceStation/20250731/lerobot.tar | 100 |
321
+ | pretrain/composite/SetupWineGlasses/20250801/lerobot.tar | 100 |
322
+ | pretrain/composite/ShakePan/20250724/lerobot.tar | 100 |
323
+ | pretrain/composite/SimmeringSauce/20250715/lerobot.tar | 100 |
324
+ | pretrain/composite/SizeSorting/20250714/lerobot.tar | 100 |
325
+ | pretrain/composite/SnackSorting/20250718/lerobot.tar | 100 |
326
+ | pretrain/composite/SortingCleanup/20250723/lerobot.tar | 100 |
327
+ | pretrain/composite/SpicyMarinade/20250715/lerobot.tar | 100 |
328
+ | pretrain/composite/StackBowlsCabinet/20250717/lerobot.tar | 100 |
329
+ | pretrain/composite/StackBowlsInSink/20250714/lerobot.tar | 100 |
330
+ | pretrain/composite/StackCans/20250731/lerobot.tar | 100 |
331
+ | pretrain/composite/StartElectricKettle/20250717/lerobot.tar | 100 |
332
+ | pretrain/composite/SteamInMicrowave/20250714/lerobot.tar | 100 |
333
+ | pretrain/composite/StirVegetables/20250807/lerobot.tar | 100 |
334
+ | pretrain/composite/StockingBreakfastFoods/20250715/lerobot.tar | 100 |
335
+ | pretrain/composite/StoreDumplings/20250804/lerobot.tar | 100 |
336
+ | pretrain/composite/StoreLeftoversByType/20250804/lerobot.tar | 100 |
337
+ | pretrain/composite/StoreLeftoversInBowl/20250804/lerobot.tar | 100 |
338
+ | pretrain/composite/StrainerSetup/20250805/lerobot.tar | 100 |
339
+ | pretrain/composite/SweetenCoffee/20250904/lerobot.tar | 100 |
340
+ | pretrain/composite/SweetenHotChocolate/20250805/lerobot.tar | 100 |
341
+ | pretrain/composite/SweetSavoryToastSetup/20250721/lerobot.tar | 100 |
342
+ | pretrain/composite/ThawInSink/20250721/lerobot.tar | 100 |
343
+ | pretrain/composite/TiltPan/20250808/lerobot.tar | 100 |
344
+ | pretrain/composite/ToastBagel/20250731/lerobot.tar | 100 |
345
+ | pretrain/composite/ToastBaguette/20250731/lerobot.tar | 100 |
346
+ | pretrain/composite/ToastOnCorrectRack/20250731/lerobot.tar | 100 |
347
+ | pretrain/composite/TongBuffetSetup/20250730/lerobot.tar | 100 |
348
+ | pretrain/composite/TransportCookware/20250717/lerobot.tar | 100 |
349
+ | pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot.tar | 100 |
350
+ | pretrain/composite/VeggieDipPrep/20250718/lerobot.tar | 100 |
351
+ | pretrain/composite/WarmCroissant/20250724/lerobot.tar | 100 |
352
+ | pretrain/composite/WashFish/20250805/lerobot.tar | 100 |
353
+ | pretrain/composite/WashLettuce/20250723/lerobot.tar | 100 |
354
+ | pretrain/composite/YogurtDelightPrep/20250725/lerobot.tar | 100 |
355
+ | target/atomic/CloseBlenderLid/20250822/lerobot.tar | 500 |
356
+ | target/atomic/CloseFridge/20250816/lerobot.tar | 500 |
357
+ | target/atomic/CloseToasterOvenDoor/20250818/lerobot.tar | 500 |
358
+ | target/atomic/CoffeeSetupMug/20250813/lerobot.tar | 500 |
359
+ | target/atomic/NavigateKitchen/20250821/lerobot.tar | 500 |
360
+ | target/atomic/OpenCabinet/20250813/lerobot.tar | 500 |
361
+ | target/atomic/OpenDrawer/20250816/lerobot.tar | 500 |
362
+ | target/atomic/OpenStandMixerHead/20250818/lerobot.tar | 500 |
363
+ | target/atomic/PickPlaceCounterToCabinet/20250811/lerobot.tar | 500 |
364
+ | target/atomic/PickPlaceCounterToStove/20250818/lerobot.tar | 500 |
365
+ | target/atomic/PickPlaceDrawerToCounter/20250820/lerobot.tar | 500 |
366
+ | target/atomic/PickPlaceSinkToCounter/20250813/lerobot.tar | 500 |
367
+ | target/atomic/PickPlaceToasterToCounter/20250817/lerobot.tar | 500 |
368
+ | target/atomic/SlideDishwasherRack/20250820/lerobot.tar | 500 |
369
+ | target/atomic/TurnOffStove/20250812/lerobot.tar | 500 |
370
+ | target/atomic/TurnOnElectricKettle/20250817/lerobot.tar | 500 |
371
+ | target/atomic/TurnOnMicrowave/20250813/lerobot.tar | 500 |
372
+ | target/atomic/TurnOnSinkFaucet/20250812/lerobot.tar | 500 |
373
+ | target/composite/ArrangeBreadBasket/20250809/lerobot.tar | 500 |
374
+ | target/composite/ArrangeTea/20250812/lerobot.tar | 500 |
375
+ | target/composite/BreadSelection/20250815/lerobot.tar | 500 |
376
+ | target/composite/CategorizeCondiments/20250814/lerobot.tar | 500 |
377
+ | target/composite/CuttingToolSelection/20250814/lerobot.tar | 500 |
378
+ | target/composite/DeliverStraw/20250813/lerobot.tar | 500 |
379
+ | target/composite/GarnishPancake/20250815/lerobot.tar | 500 |
380
+ | target/composite/GatherTableware/20250815/lerobot.tar | 500 |
381
+ | target/composite/GetToastedBread/20250812/lerobot.tar | 500 |
382
+ | target/composite/HeatKebabSandwich/20250813/lerobot.tar | 500 |
383
+ | target/composite/KettleBoiling/20250814/lerobot.tar | 500 |
384
+ | target/composite/LoadDishwasher/20250811/lerobot.tar | 500 |
385
+ | target/composite/MakeIceLemonade/20250813/lerobot.tar | 500 |
386
+ | target/composite/PackIdenticalLunches/20250815/lerobot.tar | 500 |
387
+ | target/composite/PanTransfer/20250817/lerobot.tar | 500 |
388
+ | target/composite/PortionHotDogs/20250816/lerobot.tar | 500 |
389
+ | target/composite/PrepareCoffee/20250812/lerobot.tar | 500 |
390
+ | target/composite/PreSoakPan/20250809/lerobot.tar | 500 |
391
+ | target/composite/RecycleBottlesByType/20250812/lerobot.tar | 500 |
392
+ | target/composite/RinseSinkBasin/20250816/lerobot.tar | 500 |
393
+ | target/composite/ScrubCuttingBoard/20250816/lerobot.tar | 500 |
394
+ | target/composite/SearingMeat/20250812/lerobot.tar | 500 |
395
+ | target/composite/SeparateFreezerRack/20250815/lerobot.tar | 500 |
396
+ | target/composite/SetUpCuttingStation/20250817/lerobot.tar | 500 |
397
+ | target/composite/StackBowlsCabinet/20250815/lerobot.tar | 500 |
398
+ | target/composite/SteamInMicrowave/20250814/lerobot.tar | 500 |
399
+ | target/composite/StirVegetables/20250814/lerobot.tar | 500 |
400
+ | target/composite/StoreLeftoversInBowl/20250813/lerobot.tar | 500 |
401
+ | target/composite/WaffleReheat/20250817/lerobot.tar | 500 |
402
+ | target/composite/WashFruitColander/20250811/lerobot.tar | 500 |
403
+ | target/composite/WashLettuce/20250814/lerobot.tar | 500 |
404
+ | target/composite/WeighIngredients/20250812/lerobot.tar | 500 |