This is the dataset collected for the FR3 Duo Benchmark DuoBench in LeRobot format ready for training.
The dataset is a stripped down version from the raw dataset and only contains data required for VLA training.
Checkout the raw dataset if you are interested e.g. in franka states (real) and sim states.
The raw dataset repo also shows how to convert the data into this lerobot version.
Project page:
https://duobench.github.io/
DuoBench Code:… See the full description on the dataset page:
https://huggingface.co/datasets/RobotControlStack/duobench.
