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imagewidth (px)
256
256
image_wrist
imagewidth (px)
256
256
state
list
actions
list
timestamp
float32
0
41.3
frame_index
int64
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413
episode_index
int64
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134
index
int64
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34.7k
task_index
int64
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[ 0.10542873293161392, -0.8548981547355652, -0.011129123158752918, -2.4176254272460938, -0.0075980727560818195, 1.5714677572250366, 0.9051952958106995, 0 ]
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0.1
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1
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0.2
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0.3
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0.4
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0.6
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0.7
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0.8
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0.9
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1
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1.1
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1.2
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1.3
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1.4
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1.5
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1.6
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1.7
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1.8
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1.9
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2
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2.1
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2.2
22
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2.3
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2.4
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2.5
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2.6
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2.7
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2.8
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2.9
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3
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3.1
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3.2
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3.3
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3.4
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3.5
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3.6
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3.7
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3.8
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3.9
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4
40
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4.1
41
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4.2
42
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4.3
43
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4.4
44
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4.5
45
0
45
0
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4.6
46
0
46
0
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4.7
47
0
47
0
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4.8
48
0
48
0
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4.9
49
0
49
0
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5
50
0
50
0
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5.1
51
0
51
0
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5.2
52
0
52
0
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5.3
53
0
53
0
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[ 0.07715495675802231, -0.19217179715633392, 0.010384299792349339, -2.390773057937622, 0.1385180652141571, 2.308781385421753, 1.9669162034988403, 0 ]
5.4
54
0
54
0
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5.5
55
0
55
0
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5.6
56
0
56
0
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5.7
57
0
57
0
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5.8
58
0
58
0
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5.9
59
0
59
0
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6
60
0
60
0
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6.1
61
0
61
0
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6.2
62
0
62
0
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[ 0.08292470127344131, -0.03320243954658508, 0.04477701336145401, -2.3124043941497803, 0.12793371081352234, 2.343670129776001, 2.0316028594970703, 0 ]
6.3
63
0
63
0
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6.4
64
0
64
0
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6.5
65
0
65
0
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[ 0.09175378829240799, -0.008520282804965973, 0.06082012504339218, -2.311603546142578, 0.12058746814727783, 2.345285415649414, 2.055255651473999, 0 ]
6.6
66
0
66
0
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6.7
67
0
67
0
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6.8
68
0
68
0
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6.9
69
0
69
0
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7
70
0
70
0
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[ 0.10510589182376862, 0.030127115547657013, 0.08927479386329651, -2.3120415210723877, 0.1018499806523323, 2.3499505519866943, 2.0887279510498047, 0 ]
7.1
71
0
71
0
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7.2
72
0
72
0
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7.3
73
0
73
0
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[ 0.11504589021205902, 0.0544331930577755, 0.10000121593475342, -2.3120856285095215, 0.08745285123586655, 2.358649730682373, 2.1033267974853516, 0 ]
7.4
74
0
74
0
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7.5
75
0
75
0
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7.6
76
0
76
0
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[ 0.12513624131679535, 0.08081832528114319, 0.10568360239267349, -2.3122785091400146, 0.06674596667289734, 2.378443717956543, 2.119227886199951, 0 ]
7.7
77
0
77
0
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[ 0.12759460508823395, 0.08896834403276443, 0.10728486627340317, -2.3121964931488037, 0.05869913846254349, 2.385741710662842, 2.1260383129119873, 0 ]
7.8
78
0
78
0
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[ 0.13036997616291046, 0.09734858572483063, 0.10817167162895203, -2.312194347381592, 0.0501636266708374, 2.3963778018951416, 2.1325886249542236, 0 ]
7.9
79
0
79
0
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[ 0.13297683000564575, 0.10491111874580383, 0.10829586535692215, -2.312319278717041, 0.04212679713964462, 2.40533709526062, 2.139702796936035, 0 ]
8
80
0
80
0
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[ 0.1354215145111084, 0.11203302443027496, 0.10829772800207138, -2.3121137619018555, 0.03379754349589348, 2.415412664413452, 2.147083044052124, 0 ]
8.1
81
0
81
0
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[ 0.1374993771314621, 0.11835989356040955, 0.10820980370044708, -2.3122730255126953, 0.02613857015967369, 2.424506664276123, 2.1553914546966553, 0 ]
8.2
82
0
82
0
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[ 0.1402478963136673, 0.1276807188987732, 0.10824857652187347, -2.312283515930176, 0.012744085863232613, 2.4382829666137695, 2.1663222312927246, 0 ]
8.3
83
0
83
0
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[ 0.1407570093870163, 0.12940046191215515, 0.10827549546957016, -2.3122293949127197, 0.010377826169133186, 2.440675973892212, 2.168931245803833, 0 ]
8.4
84
0
84
0
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[ 0.14230728149414062, 0.1341760903596878, 0.10827644169330597, -2.312204122543335, 0.002722530858591199, 2.4479010105133057, 2.1752538681030273, 0 ]
8.5
85
0
85
0
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[ 0.1438419371843338, 0.13856159150600433, 0.10823013633489609, -2.312225818634033, -0.003621772164478898, 2.4545600414276123, 2.1804568767547607, 0 ]
8.6
86
0
86
0
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[ 0.14520761370658875, 0.14275455474853516, 0.10822231322526932, -2.3121719360351562, -0.008622982539236546, 2.46140193939209, 2.185382843017578, 0 ]
8.7
87
0
87
0
[ 0.14520761370658875, 0.14275455474853516, 0.10822231322526932, -2.3121719360351562, -0.008622982539236546, 2.46140193939209, 2.185382843017578, 0 ]
[ 0.14653177559375763, 0.1476925164461136, 0.10827688872814178, -2.3122098445892334, -0.014978363178670406, 2.4704368114471436, 2.1889896392822266, 0 ]
8.8
88
0
88
0
[ 0.14653177559375763, 0.1476925164461136, 0.10827688872814178, -2.3122098445892334, -0.014978363178670406, 2.4704368114471436, 2.1889896392822266, 0 ]
[ 0.14763523638248444, 0.15295448899269104, 0.10829155892133713, -2.3124961853027344, -0.021972354501485825, 2.4792044162750244, 2.1910533905029297, 0 ]
8.9
89
0
89
0
[ 0.14763523638248444, 0.15295448899269104, 0.10829155892133713, -2.3124961853027344, -0.021972354501485825, 2.4792044162750244, 2.1910533905029297, 0 ]
[ 0.14866457879543304, 0.15771201252937317, 0.10823836922645569, -2.312525510787964, -0.02764945663511753, 2.4868319034576416, 2.1941511631011963, 0 ]
9
90
0
90
0
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[ 0.15175597369670868, 0.1659916192293167, 0.10811900347471237, -2.312814235687256, -0.037953950464725494, 2.496917486190796, 2.195359945297241, 0 ]
9.1
91
0
91
0
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[ 0.15175317227840424, 0.16598987579345703, 0.10812173038721085, -2.3128161430358887, -0.03795470669865608, 2.4969139099121094, 2.195356607437134, 0 ]
9.2
92
0
92
0
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[ 0.1517634242773056, 0.16601969301700592, 0.10806944221258163, -2.312807083129883, -0.037947140634059906, 2.4969117641448975, 2.195403575897217, 0 ]
9.3
93
0
93
0
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9.4
94
0
94
0
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9.5
95
0
95
0
[ 0.15171365439891815, 0.16914129257202148, 0.10711421817541122, -2.312746047973633, -0.03776935115456581, 2.498791456222534, 2.2038795948028564, 0 ]
[ 0.15174515545368195, 0.17282506823539734, 0.10657814145088196, -2.312790870666504, -0.0377582423388958, 2.5016531944274902, 2.210212230682373, 0 ]
9.6
96
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96
0
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[ 0.1516738086938858, 0.17825822532176971, 0.10604256391525269, -2.312661647796631, -0.03775656968355179, 2.507047414779663, 2.2217648029327393, 0 ]
9.7
97
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97
0
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9.8
98
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9.9
99
0
99
0
End of preview. Expand in Data Studio

Simple Teleoperated Franka Pick-Cube Dataset in LeRobot Format

This repository contains the franka dataset in parquet format used to train PiZero in the paper Robot Control Stack: A Lean Ecosystem for Robot Learning at Scale. This dataset is in LeRobot format and thus ready to use for training OpenPi, lerobot and other models which support this common format. The Robot Control Stack (RCS) is a flexible Gymnasium wrapper-based robot control interface made for robot learning and specifically Vision-Language-Action (VLA) models. It unifies MuJoCo simulation and real world robot control with four supported robots: FR3/Panda, xArm7, UR5e and SO101. It ships with several pre-build apps including data collection via teleoperation and remote model inference.

Project page: https://robotcontrolstack.github.io/ RCS Code: https://github.com/RobotControlStack/robot-control-stack

If you are looking for the raw format that was recorded in RCS, see this dataset.

Citation

If you find this dataset or RCS useful for your work, please consider citing it:

@inproceedings{juelg2025robotcontrolstack,
  title={{Robot Control Stack}: {A} Lean Ecosystem for Robot Learning at Scale}, 
  author={Tobias J{\"u}lg and Pierre Krack and Seongjin Bien and Yannik Blei and Khaled Gamal and Ken Nakahara and Johannes Hechtl and Roberto Calandra and Wolfram Burgard and Florian Walter},
  year={2025},
  booktitle={Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  note={Accepted for publication.}
}
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