MEID0/franka-episodes-v1

Franka Episodes Dataset (Cube & Ball)

This dataset contains RGB images and per-episode JSON logs recorded from a Franka simulation.
Episodes include both scripted demonstrations and behavior cloning (BC) rollouts.

Contents

• images/ — PNG/JPG frames (organized by episode naming).
• episodes/ — JSON logs per episode (timestamps, joint states, EE pose, detected objects, etc.).

How It Was Generated

• Environment: Genesis / Franka simulation
• First 14 episodes: scripted expert motions (pick & place, throw)
• Last 6 episodes: BC policy rollouts trained from earlier demonstrations

Suggested Use

• Imitation learning (BC / DAGGER)
• Perception (object detection/pose from frames)
• Control policy evaluation

Structure Example

franka-episodes-v1/
├─ images/
│  ├─ ep_0001_000001.png
│  ├─ ep_0001_000002.png
│  └─ ...
└─ episodes/
   ├─ episode_0001.json
   └─ episode_0002.json

Citation

If you use this dataset, please reference:

@misc{franka_episodes_hussain223,
  title  = {Franka Episodes (Cube & Ball)},
  author = {Hussain Alibrahim and Mohammed Aleid},
  year   = {2025},
  url    = {https://huggingface.co/datasets/Hussain223/franka-episodes-v1}
}