arkojit1/mj_stack_red_yellow

This dataset was created using LeRobot.

Dataset Description

Expert stacking demonstrations in the mj_pick_block MuJoCo Franka Panda scene (recipe stack_red_yellow). 400 episodes at 50 Hz: 200 stack_red_on_yellow then 200 stack_yellow_on_red. Language labels are split evenly across each policy's phrases (contiguous blocks, specification order).

Episode index → instruction:

0-199: stack_red_on_yellow

• 0-49: stack the red block on the yellow block
• 50-99: stack the red block on the other
• 100-149: put the red block on top of the yellow block
• 150-199: put the red block on the other

200-399: stack_yellow_on_red

• 200-249: stack the yellow block on the red block

• 250-299: stack the yellow block on the other

• 300-349: put the yellow block on top of the red block

• 350-399: put the yellow block on the other

• Control rate: 50 Hz

• Frames: action.ee.delta_xyz is a gripper-site translation in the MuJoCo world frame (meters). action.ee.orientation is the first two rows of the gripper site's world-frame rotation matrix (site axes expressed in world).

• Observations: observation.image.front, observation.image.wrist (224×224 RGB); observation.state is 7 arm joint positions plus gripper opening in [0, 1] (0 = closed, 1 = open)

• Scene init: repeated each frame; MuJoCo free-joint qpos [x, y, z, qw, qx, qy, qz] at episode start:

  • scene_init.block_red.pose: shape (7,), names ['x', 'y', 'z', 'qw', 'qx', 'qy', 'qz']
  • scene_init.block_yellow.pose: shape (7,), names ['x', 'y', 'z', 'qw', 'qx', 'qy', 'qz']

• Gripper: target opening in [0, 1] (0 = closed, 1 = open)

• Recorded actions:

  • action.ee.delta_xyz: shape (3,), names ['dx', 'dy', 'dz']
  • action.ee.orientation: shape (6,), names ['r00', 'r01', 'r02', 'r10', 'r11', 'r12']
  • action.joint.delta_angles: shape (7,), names ['joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6', 'joint7']
  • action.gripper.target: shape (1,), names ['gripper']

• Homepage: [More Information Needed]

• Paper: [More Information Needed]

• License: apache-2.0

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "fps": 50,
    "features": {
        "observation.image.front": {
            "dtype": "image",
            "shape": [
                3,
                224,
                224
            ],
            "names": [
                "C",
                "H",
                "W"
            ]
        },
        "observation.image.wrist": {
            "dtype": "image",
            "shape": [
                3,
                224,
                224
            ],
            "names": [
                "C",
                "H",
                "W"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": [
                "D_state"
            ]
        },
        "action.ee.delta_xyz": {
            "dtype": "float32",
            "shape": [
                3
            ],
            "names": [
                "dx",
                "dy",
                "dz"
            ]
        },
        "action.ee.orientation": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "r00",
                "r01",
                "r02",
                "r10",
                "r11",
                "r12"
            ]
        },
        "action.joint.delta_angles": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "joint1",
                "joint2",
                "joint3",
                "joint4",
                "joint5",
                "joint6",
                "joint7"
            ]
        },
        "action.gripper.target": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "gripper"
            ]
        },
        "scene_init.block_red.pose": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "x",
                "y",
                "z",
                "qw",
                "qx",
                "qy",
                "qz"
            ]
        },
        "scene_init.block_yellow.pose": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "x",
                "y",
                "z",
                "qw",
                "qx",
                "qy",
                "qz"
            ]
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    },
    "total_episodes": 400,
    "total_frames": 187005,
    "total_tasks": 8,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "robot_type": "panda",
    "splits": {
        "train": "0:400"
    }
}

Citation

BibTeX:

[More Information Needed]