metadata

pipeline_tag: robotics
tags:
  - robotics
  - manipulation
  - pick-and-place
  - lerobot
library_name: lerobot

PickCube-v1 LeRobot Dataset

Robot manipulation dataset for pick and place tasks in proper LeRobot format.

Dataset Structure

Episodes: 5
Total Frames: 250
Average Episode Length: 50 frames
Task: Pick up cube and place at target location

Features

observation.state: Robot joint positions [6D float32]
observation.images.main: RGB camera feed (256x256)
action: Robot control actions [6D float32]
language_instruction: Task description

Files Structure

dataset/
├── data/chunk-000/          # Parquet files per episode
├── meta/                    # Metadata files
├── videos/chunk-000/        # MP4 videos per episode
└── README.md

Usage

from lerobot.common.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset("USERNAME/REPO_NAME")
print(f"Loaded {len(dataset)} frames")

# Access sample
sample = dataset[0]
state = sample['observation.state']
action = sample['action'] 
image = sample['observation.images.main']

Training SmolVLA

python lerobot/scripts/train.py \
    --policy.path=lerobot/smolvla_base \
    --policy.repo_id=USERNAME/model_name \
    --dataset.repo_id=USERNAME/REPO_NAME \
    --batch_size=8 \
    --steps=2000 \
    --policy.device=cuda