Datacard This is the official VLABench primitive pretraining dataset converted to the LeRobot format. The dataset contains language conditioned manipulation trajectories collected with a Franka Panda robot in VLABench simulation. This LeRobot version is hosted at: https://huggingface.co/datasets/VLABench/vlabench primitive pretrain lerobot Source Project Page: https://vlabench.github.io/ Arxiv Paper: https://arxiv.org/abs/2412.18194 Code: https://github.com/OpenMOSS/VLABench Raw primitive dataset: https://huggingface.co/datasets/VLABench/raw primitive datasets Dataset Summary Format: LeRobot v2.0 Robot type: panda Split: train Episodes: 24,289 Frames: 2,880,198 Tasks / language instructions: 275 FPS: 10 Videos: 0 Data chunks: 25 Data files: 24,289 parquet episode files Approximate dataset size: 1.47 TB on Hugging Face Dataset Structure The dataset follows the standard LeRobot directory layout: Episode parquet files are stored with the following path template: Metadata files: meta/info.json : LeRobot dataset metadata, feature schema, split, FPS, and path templates. meta/tasks.jsonl : mapping from task index to language instruction. meta/episodes.jsonl : episode index, task instructi…
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