Robot Control Stack: A Lean Ecosystem for Robot Learning at Scale
Paper • 2509.14932 • Published
Search is not available for this dataset
image imagewidth (px) 256 256 | image_wrist imagewidth (px) 256 256 | state list | actions list | timestamp float32 0 24 | frame_index int64 0 240 | episode_index int64 0 150 | index int64 0 36.4k | task_index int64 0 0 |
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End of preview. Expand in Data Studio
Simple Mixed (sim&real) 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
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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