knightnemo/furniturebench_lamp_delta

FurnitureBench Lamp Delta LeRobot Dataset

This dataset is a LeRobot v2.1 conversion of the FurnitureBench lamp task used by the Robo_Continual_Learning project.

Contents

• Task: assemble a lamp with a lamp base, lamp bulb, and lamp hood.
• Robot: Franka.
• Episodes: 200.
• Frames: 142,466.
• FPS: 15.
• Cameras: front, rear, and wrist RGB videos at 256 x 256.
• State: 37D raw robot state.
• Action: 8D delta end-effector action plus gripper command.

The folder follows the standard LeRobot layout:

meta/
data/chunk-000/
videos/chunk-000/

The action fields are:

eef_delta_pos_x, eef_delta_pos_y, eef_delta_pos_z,
eef_delta_quat_x, eef_delta_quat_y, eef_delta_quat_z, eef_delta_quat_w,
gripper

Source

The data was converted from FurnitureBench lamp trajectories into LeRobot format for offline imitation learning and offline-to-online robot fine-tuning experiments.