---
license: apache-2.0
---
# RLBench 18 Tasks Dataset

## Overview
This repository provides the RLBench dataset for 18 tasks, originally hosted by [PerAct](https://peract.github.io/) in Google Drive. Since downloading large files from Google Drive via terminal can be problematic due to various limits, we have mirrored the dataset on Hugging Face for easier access. To know more about the details of this dataset, please refer to [PerAct](https://peract.github.io/).

## Dataset Structure
The dataset is organized into three splits:

```
data/
├── train/  # 100 episodes per task
├── val/    # 25 episodes per task
└── test/   # 25 episodes per task
```
Each split contains zip files corresponding to individual tasks, making it easier to download specific tasks without fetching the entire dataset.

## Dataset Details
These pre-generated RLBench demonstrations follow the same splits used in the original PerAct paper. Using these pre-generated demonstrations ensures reproducibility, as the original scene generation process involves randomness.

- **Train Split:** 100 episodes per task
- **Validation Split:** 25 episodes per task
- **Test Split:** 25 episodes per task
- **Total Size:** ~116GB

## Acknowledgements
Thanks to the authors of PerAct and RLBench for creating and sharing the original dataset. This mirror aims to make data access more convenient for researchers.

## Citation
If you use this dataset, please cite the original PerAct and RLBench papers:

```bibtex
@inproceedings{shridhar2022peract,
  title     = {Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation},
  author    = {Shridhar, Mohit and Manuelli, Lucas and Fox, Dieter},
  booktitle = {Proceedings of the 6th Conference on Robot Learning (CoRL)},
  year      = {2022},
}

@article{james2020rlbench,
  title={Rlbench: The robot learning benchmark \& learning environment},
  author={James, Stephen and Ma, Zicong and Arrojo, David Rovick and Davison, Andrew J},
  journal={IEEE Robotics and Automation Letters},
  volume={5},
  number={2},
  pages={3019--3026},
  year={2020},
  publisher={IEEE}
}
```