Search is not available for this dataset
image image | wrist_image image | state list | actions list | timestamp float32 | frame_index int64 | episode_index int64 | index int64 | task_index int64 |
|---|---|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
LongHorizon — LoHRbench CuRobo Demonstrations (joint-pose)
Success-only demonstration trajectories for 8 long-horizon manipulation tasks from LoHRbench (ManiSkill3, Franka Panda), collected with the CuRobo GPU motion planner.
Two representations of the same success trajectories are provided:
| Path | Format | Episodes | Notes |
|---|---|---|---|
data/, meta/ |
LeRobot v2 | 1,200 (capped 150/task) | training-ready (pi0 / LeRobot pipelines) |
hdf5_joint_pose/ |
ManiSkill HDF5 | 1,383 (all successes) | raw trajectories + filtered metadata JSON |
Both are joint-pose (8D pd_joint_pos) and success-only. The HDF5 set keeps every
successful episode (no 150/task cap), so a few tasks have more than the LeRobot set.
Contents
- Episodes: 1,200 (150 per task × 8 tasks), all successful
- Frames: 3,311,118 @ 20 fps
- Robot: Franka Panda (
panda_wristcam) - Planner: CuRobo (GPU MotionGen)
- Action space: 8D
pd_joint_pos— 7 arm joint targets + 1 gripper command (absolute)
Features (per frame)
| key | dtype | shape | source |
|---|---|---|---|
image |
image | (128, 128, 3) | base camera RGB |
wrist_image |
image | (128, 128, 3) | hand/wrist camera RGB |
state |
float32 | (9,) | robot qpos (7 arm + 2 finger) |
actions |
float32 | (8,) | pd_joint_pos target (7 arm + gripper) |
Tasks and language instructions
| task | category | instruction |
|---|---|---|
stack_10_cube |
super_long_horizon | Stack 10 cubes together, start with red cube |
reverse_stack |
super_long_horizon | Reverse 10 stacked cubes in reverse order |
stack_active_exploration |
active_exploration | Open the drawer, pick up the cubes, and stack them together starting with the red cube |
pick_active_exploration |
active_exploration | Pick up the can, screwdriver, and cup out of the drawer |
fruit_placement |
tool_using | Place four strawberries into the target positions |
repackage |
tool_using | Put the cube into the bowl and stack the bowl on the plate |
cluttered_packing |
clutter | Put three cubes into the bowl |
stack_cube_clutter |
clutter | Stack 3 cubes together, start with red cube |
The per-frame language instruction is stored in the LeRobot task field.
HDF5 success counts (hdf5_joint_pose/)
| task | success episodes |
|---|---|
| stack_10_cube | 150 |
| reverse_stack | 172 |
| stack_active_exploration | 300 |
| pick_active_exploration | 150 |
| fruit_placement | 150 |
| repackage | 150 |
| cluttered_packing | 161 |
| stack_cube_clutter | 150 |
| total | 1,383 |
Each <name>_success.h5 holds only the successful traj_* groups; the sibling
<name>_success.json is the ManiSkill trajectory metadata trimmed to those episodes.
Episode success is taken from the reconciled per-episode label (episodes[].success),
not the unreliable per-step flag. HDF5 schema: obs/agent/qpos (T,9),
obs/sensor_data/{base,hand}_camera/rgb (T,128,128,3), actions (T-1,8).
Notes
- Only successful episodes are included (per-episode success labels reconciled from the ManiSkill collection metadata; the per-step success flag is not used).
- Actions are absolute joint targets. For pi0/pi0.5-style training, convert the 7 arm joints to deltas relative to the current state and keep the gripper absolute.
- This release contains the joint-pose (
pd_joint_pos) representation only (both LeRobot and HDF5). A delta-EE (pd_ee_delta_pose) variant is not included here.
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