video stringlengths 26 36 | task stringclasses 2
values | policy stringclasses 2
values | frames listlengths 41 41 | actions listlengths 40 40 | eef listlengths 41 41 | object listlengths 41 41 | states listlengths 41 41 |
|---|---|---|---|---|---|---|---|
Lift/scripted/episode_000000 | Lift | scripted | ["/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAIBAQEBAQIBAQECAgICAgQDAgICAgUEBAMEBgUGBgYFBgYGBwkIBgcJBwYGCAsICQ(...TRUNCATED) | [[0.398202894481644,-0.10265973061082212,-0.20910806054125486,0.0,0.0,0.0,-1.0],[0.6450456927407278,(...TRUNCATED) | [[-0.09123697652043733,-0.030992307969431157,1.0100414240364703],[-0.07042119719632452,-0.0353190793(...TRUNCATED) | [[0.02553579829755966,-0.025737836508126784,0.8312055267521433],[0.02553579829755966,-0.025737836508(...TRUNCATED) | [[0.0,-0.04536656402360748,0.2230204484818,-0.016854481076585746,-2.578595389034096,0.02532237059715(...TRUNCATED) |
Lift/scripted/episode_000001 | Lift | scripted | ["/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAIBAQEBAQIBAQECAgICAgQDAgICAgUEBAMEBgUGBgYFBgYGBwkIBgcJBwYGCAsICQ(...TRUNCATED) | [[0.16940414743122778,0.2485117594904219,-0.22207456636827766,0.0,0.0,0.0,-1.0],[0.4032076241119613,(...TRUNCATED) | [[-0.11417449084224526,-0.015429961702702394,1.007386679718488],[-0.10417441892073902,-0.00428052129(...TRUNCATED) | [[0.022687046183456724,-0.02835674440812443,0.8300002287496347],[0.022687046183456724,-0.02835674440(...TRUNCATED) | [[0.0,-0.01604345677297286,0.18737198469494662,-0.022118701520166307,-2.6510841870396256,-0.04726937(...TRUNCATED) |
Lift/scripted/episode_000003 | Lift | scripted | ["/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAIBAQEBAQIBAQECAgICAgQDAgICAgUEBAMEBgUGBgYFBgYGBwkIBgcJBwYGCAsICQ(...TRUNCATED) | [[0.007699846357757889,-0.2032053177772894,-0.35606395593386303,0.0,0.0,0.0,-1.0],[-0.02821442499720(...TRUNCATED) | [[-0.10584562675769076,0.002589325352267509,1.0090857651463019],[-0.10337920387979746,-0.00630324214(...TRUNCATED) | [[0.00545176904498105,-0.028561087057370076,0.8305818094778259],[0.00545176904498105,-0.028561087057(...TRUNCATED) | [[0.0,0.019611077405817662,0.19688992168525254,-0.009200842413253673,-2.619152294803381,0.0415514827(...TRUNCATED) |
Lift/scripted/episode_000004 | Lift | scripted | ["/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAIBAQEBAQIBAQECAgICAgQDAgICAgUEBAMEBgUGBgYFBgYGBwkIBgcJBwYGCAsICQ(...TRUNCATED) | [[0.03937991577998301,0.20319241406595615,-0.7308691276544274,0.0,0.0,0.0,-1.0],[0.03877882181356934(...TRUNCATED) | [[-0.11329545529040602,0.022777012337486666,0.9985759470102105],[-0.1077326089984184,0.0315289130596(...TRUNCATED) | [[0.027399178062854152,-0.003831201187212141,0.8319453687199299],[0.027399178062854152,-0.0038312011(...TRUNCATED) | [[0.0,0.01986939403217531,0.2179359920479808,0.02903251212956773,-2.62477011762083,0.007324636175486(...TRUNCATED) |
Lift/scripted/episode_000005 | Lift | scripted | ["/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAIBAQEBAQIBAQECAgICAgQDAgICAgUEBAMEBgUGBgYFBgYGBwkIBgcJBwYGCAsICQ(...TRUNCATED) | [[0.42595709055580133,-0.25388981704464486,-0.3717785760153961,0.0,0.0,0.0,1.0],[0.03838429885417882(...TRUNCATED) | [[-0.10026614729899684,0.015210224014716748,1.007352527543738],[-0.0774412279962467,0.00316716516170(...TRUNCATED) | [[-0.020501407937240926,0.022796221872076732,0.8304134383106789],[-0.020501407937240926,0.0227962218(...TRUNCATED) | [[0.0,-0.00046607492899710827,0.21318509418959836,0.02735171048334547,-2.6064997242389136,-0.0377152(...TRUNCATED) |
Lift/scripted/episode_000006 | Lift | scripted | ["/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAIBAQEBAQIBAQECAgICAgQDAgICAgUEBAMEBgUGBgYFBgYGBwkIBgcJBwYGCAsICQ(...TRUNCATED) | [[0.4850750643755092,0.19485695461466535,0.1476514842558253,0.0,0.0,0.0,-1.0],[0.6899088912818232,0.(...TRUNCATED) | [[-0.11643222538655916,-0.009825416945965164,0.9884292762321856],[-0.09342253136607144,-0.0008774110(...TRUNCATED) | [[0.004731516013569426,0.008721305753735628,0.8316424582461157],[0.004731516013569426,0.008721305753(...TRUNCATED) | [[0.0,0.015206800823409838,0.24482592178778867,-0.03591286858314303,-2.6357095353621456,-0.020498164(...TRUNCATED) |
Lift/scripted/episode_000007 | Lift | scripted | ["/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAIBAQEBAQIBAQECAgICAgQDAgICAgUEBAMEBgUGBgYFBgYGBwkIBgcJBwYGCAsICQ(...TRUNCATED) | [[-0.062455122959125,-0.16778952721666207,-0.4377646424996194,0.0,0.0,0.0,-1.0],[0.4819367983519519,(...TRUNCATED) | [[-0.12189398274087473,-0.0025820769572213196,0.9806448067559318],[-0.1224825189225578,-0.0098745773(...TRUNCATED) | [[-0.026043819185645693,-0.012711264041520386,0.8308768184628819],[-0.026043819185645693,-0.01271126(...TRUNCATED) | [[0.0,0.0018633212195950353,0.26036783503171634,-0.003139773191268215,-2.6237965056500774,0.04051543(...TRUNCATED) |
Lift/scripted/episode_000008 | Lift | scripted | ["/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAIBAQEBAQIBAQECAgICAgQDAgICAgUEBAMEBgUGBgYFBgYGBwkIBgcJBwYGCAsICQ(...TRUNCATED) | [[0.1582779980503483,-0.6850227271454091,-0.3182833985545483,0.0,0.0,0.0,-1.0],[0.39938449901787976,(...TRUNCATED) | [[-0.11584902946720203,-0.014611677016663929,1.0027104795627255],[-0.10675896399937042,-0.0478603379(...TRUNCATED) | [[0.0026031610525524204,0.015653734536175738,0.8317383890804279],[0.0026031610525524204,0.0156537345(...TRUNCATED) | [[0.0,-0.03128121384439496,0.19996086066699456,-0.0006434599582941418,-2.622515522774473,0.011469260(...TRUNCATED) |
Lift/scripted/episode_000009 | Lift | scripted | ["/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAIBAQEBAQIBAQECAgICAgQDAgICAgUEBAMEBgUGBgYFBgYGBwkIBgcJBwYGCAsICQ(...TRUNCATED) | [[0.5571749459546296,0.026019579640635282,-0.3355704397690524,0.0,0.0,0.0,1.0],[1.0,0.01016394895642(...TRUNCATED) | [[-0.09997614232708711,-0.005661929365839829,1.0217466608075128],[-0.07058715587344049,-0.0047735835(...TRUNCATED) | [[0.010013938375178198,0.002870266982788894,0.8309915465862684],[0.010013938375178198,0.002870266982(...TRUNCATED) | [[0.0,-0.00813295688938661,0.16826144351195302,-0.0057090597769047435,-2.6214513581116328,-0.0201537(...TRUNCATED) |
Lift/scripted/episode_000010 | Lift | scripted | ["/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAIBAQEBAQIBAQECAgICAgQDAgICAgUEBAMEBgUGBgYFBgYGBwkIBgcJBwYGCAsICQ(...TRUNCATED) | [[0.1730431223185473,-0.022557411325496546,-0.7140646826835813,0.0,0.0,0.0,1.0],[0.29723682428288895(...TRUNCATED) | [[-0.11541660736836537,-0.005977571815004401,0.9934291437833154],[-0.10330635156958998,-0.0067511812(...TRUNCATED) | [[0.02720360077169619,-0.029763104020325132,0.8312672964698526],[0.02720360077169619,-0.029763104020(...TRUNCATED) | [[0.0,-0.00020051906278721593,0.22976570457999768,-0.013287594165447385,-2.6301049768274973,-0.01301(...TRUNCATED) |
End of preview. Expand in Data Studio
h2r-sim
Robosuite episodes with real actions, used to train the action controller of human-to-robot (Panda action → latent action of the world model).
- Robot: Panda, OSC_POSE controller at 20 Hz. Each action is held for 5 control steps, so one action per frame (4 Hz).
- Camera: agentview, 224 × 224 JPEG.
- Tasks: Lift and PickPlaceCan. Policies:
scripted(noisy waypoints: reach, grasp and lift the object, or random targets in the workspace) andrandom(uniform random translation and gripper; pushes that leave the workspace are cancelled). Rotation is always zero. - 500 episodes per task and policy, 40 actions and 41 frames per episode. Episode
kuses seedk, so both policies start from the same object placements.
Layout
frames/<split>-<shard>.parquet: one row per episode.video:<task>/<policy>/episode_<seed>;task,policyframes: 41 JPEG imagesactions: 40 × 7 (dx, dy, dz, rotation × 3, gripper), in [-1, 1]eef,object: 41 × 3 positions of the end effector and the object (m)states: 41 flattened MuJoCo states, to reset the simulator to any frame
manifest.parquet: video id, split, number of frames, shard.config.yaml: the collection config.
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