Datasets:

chaoqi-liu
/

mshab_settable

released source repo: datasets/arth-shukla/MS-HAB-SetTable
benchmark scope: SetTable subtasks only
task strings in this LeRobot dataset: set table: pick object, set table: place object, set table: open fridge, set table: open drawer, set table: close fridge, set table: close drawer
split mapping: LeRobot train contains all exported released episodes
fps: 20

Dataset Structure

meta/info.json:

{
  "codebase_version": "v3.0",
  "robot_type": "fetch",
  "total_episodes": 8000,
  "total_frames": 365533,
  "total_tasks": 6,
  "fps": 20,
  "splits": {"train": "0:8000"},
  "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"
}

Counts

Per task instruction

set table: close drawer: 1000 episodes
set table: close fridge: 1000 episodes
set table: open drawer: 1000 episodes
set table: open fridge: 1000 episodes
set table: pick object: 2000 episodes
set table: place object: 2000 episodes

Per released source config

close-fridge: 1000 episodes
close-kitchen_counter: 1000 episodes
open-fridge: 1000 episodes
open-kitchen_counter: 1000 episodes
pick-013_apple: 1000 episodes
pick-024_bowl: 1000 episodes
place-013_apple: 1000 episodes
place-024_bowl: 1000 episodes

Observation mapping

observation.state: 42-D flat benchmark state
observation.agent.qpos: 12 dims
observation.agent.qvel: 12 dims
observation.extra.tcp_pose_wrt_base: 7 dims
observation.extra.obj_pose_wrt_base: 7 dims
observation.extra.goal_pos_wrt_base: 3 dims
observation.extra.is_grasped: 1 dims
observation.images.fetch_head: RGB video (128, 128, 3)
observation.images.fetch_hand: RGB video (128, 128, 3)
observation.camera.*: preserved camera matrices from the released HDF5 source

Action mapping

action: 13-D float32 control in controller order
names: arm.shoulder_pan_joint, arm.shoulder_lift_joint, arm.upperarm_roll_joint, arm.elbow_flex_joint, arm.forearm_roll_joint, arm.wrist_flex_joint, arm.wrist_roll_joint, gripper.control, body.head_pan_joint, body.head_tilt_joint, body.torso_lift_joint, base.forward_velocity, base.rotation_velocity

Episode metadata

per-episode released-source metadata is stored in meta/mshab_source_episodes.jsonl
conversion summary and verification are stored in meta/mshab_settable_export_report.json

Notes

MS-HAB SetTable release stores one observation before each action, so export aligns observation[t] with action[t].
RGB cameras are stored as LeRobot videos under observation.images.fetch_head and observation.images.fetch_hand.
Depth streams are intentionally omitted in this dataset variant.
Task strings are natural-language instructions such as set table: open drawer, not short benchmark labels.
Episodes are truncated at the first successful action frame when success is observed.
Released HDF5 action rows are clipped to the normalized MS-HAB env action box before export.
The full 8-way released config identity remains available in meta/mshab_source_episodes.jsonl.
This variant was derived from the existing LeRobot dataset datasets/chaoqi-liu/mshab_settable_w_depth without re-encoding RGB videos.

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