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--- |
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pipeline_tag: robotics |
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tags: |
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- robotics |
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- manipulation |
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- pick-and-place |
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- lerobot |
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library_name: lerobot |
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--- |
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# PickCube-v1 LeRobot Dataset |
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Robot manipulation dataset for pick and place tasks in proper LeRobot format. |
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## Dataset Structure |
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- **Episodes**: 5 |
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- **Total Frames**: 250 |
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- **Average Episode Length**: 50 frames |
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- **Task**: Pick up cube and place at target location |
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## Features |
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- `observation.state`: Robot joint positions [6D float32] |
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- `observation.images.main`: RGB camera feed (256x256) |
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- `action`: Robot control actions [6D float32] |
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- `language_instruction`: Task description |
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## Files Structure |
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``` |
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dataset/ |
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├── data/chunk-000/ # Parquet files per episode |
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├── meta/ # Metadata files |
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├── videos/chunk-000/ # MP4 videos per episode |
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└── README.md |
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``` |
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## Usage |
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```python |
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from lerobot.common.datasets.lerobot_dataset import LeRobotDataset |
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dataset = LeRobotDataset("USERNAME/REPO_NAME") |
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print(f"Loaded {len(dataset)} frames") |
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# Access sample |
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sample = dataset[0] |
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state = sample['observation.state'] |
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action = sample['action'] |
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image = sample['observation.images.main'] |
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``` |
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## Training SmolVLA |
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```bash |
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python lerobot/scripts/train.py \ |
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--policy.path=lerobot/smolvla_base \ |
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--policy.repo_id=USERNAME/model_name \ |
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--dataset.repo_id=USERNAME/REPO_NAME \ |
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--batch_size=8 \ |
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--steps=2000 \ |
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--policy.device=cuda |
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``` |
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