Datasets:
350 episodes · 20 fps · 2 cameras · 256×256 av1
Experiment provenance
Experiment line: abstraction-emergence (object line). Seed primitives on palette objects; composites enter only via oracle-gated chains relabelled by the verbalizer. Run pages: https://storage.googleapis.com/rbhowmik-dreamer/site/emergence/index.html
What changed: vs object_seed_v3: episodes 180 → 350, frames 6902 → 11469. New task strings: “go over the bread”, “go over the lemon”, “go over the milk carton”.
Collected in simulation (robosuite/MuJoCo, Panda): scene + wrist video, proprio, OSC actions, and a language task string minted by the project's verbalizer (certificate → instruction; the relabeler may not invent words).
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"fps": 20,
"features": {
"observation.images.image": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 20,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {},
"is_depth_map": false
}
},
"observation.images.wrist_image": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 20,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {},
"is_depth_map": false
}
},
"observation.state": {
"dtype": "float32",
"shape": [
8
],
"names": [
"ee_position_x",
"ee_position_y",
"ee_position_z",
"ee_axis_angle_x",
"ee_axis_angle_y",
"ee_axis_angle_z",
"gripper_left_qpos",
"gripper_right_qpos"
]
},
"observation.environment_state": {
"dtype": "float64",
"shape": [
345
],
"names": [
"simulation_time_seconds",
"qpos_robot0_joint1_angle",
"qpos_robot0_joint2_angle",
"qpos_robot0_joint3_angle",
"qpos_robot0_joint4_angle",
"qpos_robot0_joint5_angle",
"qpos_robot0_joint6_angle",
"qpos_robot0_joint7_angle",
"qpos_gripper0_right_finger_joint1_position",
"qpos_gripper0_right_finger_joint2_position",
"qpos_cube_joint0_position_x",
"qpos_cube_joint0_position_y",
"qpos_cube_joint0_position_z",
"qpos_cube_joint0_quaternion_w",
"qpos_cube_joint0_quaternion_x",
"qpos_cube_joint0_quaternion_y",
"qpos_cube_joint0_quaternion_z",
"qpos_lemon_joint0_position_x",
"qpos_lemon_joint0_position_y",
"qpos_lemon_joint0_position_z",
"qpos_lemon_joint0_quaternion_w",
"qpos_lemon_joint0_quaternion_x",
"qpos_lemon_joint0_quaternion_y",
"qpos_lemon_joint0_quaternion_z",
"qpos_milk_joint0_position_x",
"qpos_milk_joint0_position_y",
"qpos_milk_joint0_position_z",
"qpos_milk_joint0_quaternion_w",
"qpos_milk_joint0_quaternion_x",
"qpos_milk_joint0_quaternion_y",
"qpos_milk_joint0_quaternion_z",
"qpos_bread_joint0_position_x",
"qpos_bread_joint0_position_y",
"qpos_bread_joint0_position_z",
"qpos_bread_joint0_quaternion_w",
"qpos_bread_joint0_quaternion_x",
"qpos_bread_joint0_quaternion_y",
"qpos_bread_joint0_quaternion_z",
"qvel_robot0_joint1_angular_velocity",
"qvel_robot0_joint2_angular_velocity",
"qvel_robot0_joint3_angular_velocity",
"qvel_robot0_joint4_angular_velocity",
"qvel_robot0_joint5_angular_velocity",
"qvel_robot0_joint6_angular_velocity",
"qvel_robot0_joint7_angular_velocity",
"qvel_gripper0_right_finger_joint1_linear_velocity",
"qvel_gripper0_right_finger_joint2_linear_velocity",
"qvel_cube_joint0_linear_velocity_x",
"qvel_cube_joint0_linear_velocity_y",
"qvel_cube_joint0_linear_velocity_z",
"qvel_cube_joint0_angular_velocity_x",
"qvel_cube_joint0_angular_velocity_y",
"qvel_cube_joint0_angular_velocity_z",
"qvel_lemon_joint0_linear_velocity_x",
"qvel_lemon_joint0_linear_velocity_y",
"qvel_lemon_joint0_linear_velocity_z",
"qvel_lemon_joint0_angular_velocity_x",
"qvel_lemon_joint0_angular_velocity_y",
"qvel_lemon_joint0_angular_velocity_z",
"qvel_milk_joint0_linear_velocity_x",
"qvel_milk_joint0_linear_velocity_y",
"qvel_milk_joint0_linear_velocity_z",
"qvel_milk_joint0_angular_velocity_x",
"qvel_milk_joint0_angular_velocity_y",
"qvel_milk_joint0_angular_velocity_z",
"qvel_bread_joint0_linear_velocity_x",
"qvel_bread_joint0_linear_velocity_y",
"qvel_bread_joint0_linear_velocity_z",
"qvel_bread_joint0_angular_velocity_x",
"qvel_bread_joint0_angular_velocity_y",
"qvel_bread_joint0_angular_velocity_z",
"qacc_warmstart_robot0_joint1_angular_velocity",
"qacc_warmstart_robot0_joint2_angular_velocity",
"qacc_warmstart_robot0_joint3_angular_velocity",
"qacc_warmstart_robot0_joint4_angular_velocity",
"qacc_warmstart_robot0_joint5_angular_velocity",
"qacc_warmstart_robot0_joint6_angular_velocity",
"qacc_warmstart_robot0_joint7_angular_velocity",
"qacc_warmstart_gripper0_right_finger_joint1_linear_velocity",
"qacc_warmstart_gripper0_right_finger_joint2_linear_velocity",
"qacc_warmstart_cube_joint0_linear_velocity_x",
"qacc_warmstart_cube_joint0_linear_velocity_y",
"qacc_warmstart_cube_joint0_linear_velocity_z",
"qacc_warmstart_cube_joint0_angular_velocity_x",
"qacc_warmstart_cube_joint0_angular_velocity_y",
"qacc_warmstart_cube_joint0_angular_velocity_z",
"qacc_warmstart_lemon_joint0_linear_velocity_x",
"qacc_warmstart_lemon_joint0_linear_velocity_y",
"qacc_warmstart_lemon_joint0_linear_velocity_z",
"qacc_warmstart_lemon_joint0_angular_velocity_x",
"qacc_warmstart_lemon_joint0_angular_velocity_y",
"qacc_warmstart_lemon_joint0_angular_velocity_z",
"qacc_warmstart_milk_joint0_linear_velocity_x",
"qacc_warmstart_milk_joint0_linear_velocity_y",
"qacc_warmstart_milk_joint0_linear_velocity_z",
"qacc_warmstart_milk_joint0_angular_velocity_x",
"qacc_warmstart_milk_joint0_angular_velocity_y",
"qacc_warmstart_milk_joint0_angular_velocity_z",
"qacc_warmstart_bread_joint0_linear_velocity_x",
"qacc_warmstart_bread_joint0_linear_velocity_y",
"qacc_warmstart_bread_joint0_linear_velocity_z",
"qacc_warmstart_bread_joint0_angular_velocity_x",
"qacc_warmstart_bread_joint0_angular_velocity_y",
"qacc_warmstart_bread_joint0_angular_velocity_z",
"control_robot0_torq_j1",
"control_robot0_torq_j2",
"control_robot0_torq_j3",
"control_robot0_torq_j4",
"control_robot0_torq_j5",
"control_robot0_torq_j6",
"control_robot0_torq_j7",
"control_gripper0_right_gripper_finger_joint1",
"control_gripper0_right_gripper_finger_joint2",
"qfrc_applied_robot0_joint1_angular_velocity",
"qfrc_applied_robot0_joint2_angular_velocity",
"qfrc_applied_robot0_joint3_angular_velocity",
"qfrc_applied_robot0_joint4_angular_velocity",
"qfrc_applied_robot0_joint5_angular_velocity",
"qfrc_applied_robot0_joint6_angular_velocity",
"qfrc_applied_robot0_joint7_angular_velocity",
"qfrc_applied_gripper0_right_finger_joint1_linear_velocity",
"qfrc_applied_gripper0_right_finger_joint2_linear_velocity",
"qfrc_applied_cube_joint0_linear_velocity_x",
"qfrc_applied_cube_joint0_linear_velocity_y",
"qfrc_applied_cube_joint0_linear_velocity_z",
"qfrc_applied_cube_joint0_angular_velocity_x",
"qfrc_applied_cube_joint0_angular_velocity_y",
"qfrc_applied_cube_joint0_angular_velocity_z",
"qfrc_applied_lemon_joint0_linear_velocity_x",
"qfrc_applied_lemon_joint0_linear_velocity_y",
"qfrc_applied_lemon_joint0_linear_velocity_z",
"qfrc_applied_lemon_joint0_angular_velocity_x",
"qfrc_applied_lemon_joint0_angular_velocity_y",
"qfrc_applied_lemon_joint0_angular_velocity_z",
"qfrc_applied_milk_joint0_linear_velocity_x",
"qfrc_applied_milk_joint0_linear_velocity_y",
"qfrc_applied_milk_joint0_linear_velocity_z",
"qfrc_applied_milk_joint0_angular_velocity_x",
"qfrc_applied_milk_joint0_angular_velocity_y",
"qfrc_applied_milk_joint0_angular_velocity_z",
"qfrc_applied_bread_joint0_linear_velocity_x",
"qfrc_applied_bread_joint0_linear_velocity_y",
"qfrc_applied_bread_joint0_linear_velocity_z",
"qfrc_applied_bread_joint0_angular_velocity_x",
"qfrc_applied_bread_joint0_angular_velocity_y",
"qfrc_applied_bread_joint0_angular_velocity_z",
"xfrc_applied_world_force_x",
"xfrc_applied_world_force_y",
"xfrc_applied_world_force_z",
"xfrc_applied_world_torque_x",
"xfrc_applied_world_torque_y",
"xfrc_applied_world_torque_z",
"xfrc_applied_table_force_x",
"xfrc_applied_table_force_y",
"xfrc_applied_table_force_z",
"xfrc_applied_table_torque_x",
"xfrc_applied_table_torque_y",
"xfrc_applied_table_torque_z",
"xfrc_applied_left_eef_target_force_x",
"xfrc_applied_left_eef_target_force_y",
"xfrc_applied_left_eef_target_force_z",
"xfrc_applied_left_eef_target_torque_x",
"xfrc_applied_left_eef_target_torque_y",
"xfrc_applied_left_eef_target_torque_z",
"xfrc_applied_right_eef_target_force_x",
"xfrc_applied_right_eef_target_force_y",
"xfrc_applied_right_eef_target_force_z",
"xfrc_applied_right_eef_target_torque_x",
"xfrc_applied_right_eef_target_torque_y",
"xfrc_applied_right_eef_target_torque_z",
"xfrc_applied_robot0_base_force_x",
"xfrc_applied_robot0_base_force_y",
"xfrc_applied_robot0_base_force_z",
"xfrc_applied_robot0_base_torque_x",
"xfrc_applied_robot0_base_torque_y",
"xfrc_applied_robot0_base_torque_z",
"xfrc_applied_robot0_link0_force_x",
"xfrc_applied_robot0_link0_force_y",
"xfrc_applied_robot0_link0_force_z",
"xfrc_applied_robot0_link0_torque_x",
"xfrc_applied_robot0_link0_torque_y",
"xfrc_applied_robot0_link0_torque_z",
"xfrc_applied_robot0_link1_force_x",
"xfrc_applied_robot0_link1_force_y",
"xfrc_applied_robot0_link1_force_z",
"xfrc_applied_robot0_link1_torque_x",
"xfrc_applied_robot0_link1_torque_y",
"xfrc_applied_robot0_link1_torque_z",
"xfrc_applied_robot0_link2_force_x",
"xfrc_applied_robot0_link2_force_y",
"xfrc_applied_robot0_link2_force_z",
"xfrc_applied_robot0_link2_torque_x",
"xfrc_applied_robot0_link2_torque_y",
"xfrc_applied_robot0_link2_torque_z",
"xfrc_applied_robot0_link3_force_x",
"xfrc_applied_robot0_link3_force_y",
"xfrc_applied_robot0_link3_force_z",
"xfrc_applied_robot0_link3_torque_x",
"xfrc_applied_robot0_link3_torque_y",
"xfrc_applied_robot0_link3_torque_z",
"xfrc_applied_robot0_link4_force_x",
"xfrc_applied_robot0_link4_force_y",
"xfrc_applied_robot0_link4_force_z",
"xfrc_applied_robot0_link4_torque_x",
"xfrc_applied_robot0_link4_torque_y",
"xfrc_applied_robot0_link4_torque_z",
"xfrc_applied_robot0_link5_force_x",
"xfrc_applied_robot0_link5_force_y",
"xfrc_applied_robot0_link5_force_z",
"xfrc_applied_robot0_link5_torque_x",
"xfrc_applied_robot0_link5_torque_y",
"xfrc_applied_robot0_link5_torque_z",
"xfrc_applied_robot0_link6_force_x",
"xfrc_applied_robot0_link6_force_y",
"xfrc_applied_robot0_link6_force_z",
"xfrc_applied_robot0_link6_torque_x",
"xfrc_applied_robot0_link6_torque_y",
"xfrc_applied_robot0_link6_torque_z",
"xfrc_applied_robot0_link7_force_x",
"xfrc_applied_robot0_link7_force_y",
"xfrc_applied_robot0_link7_force_z",
"xfrc_applied_robot0_link7_torque_x",
"xfrc_applied_robot0_link7_torque_y",
"xfrc_applied_robot0_link7_torque_z",
"xfrc_applied_robot0_right_hand_force_x",
"xfrc_applied_robot0_right_hand_force_y",
"xfrc_applied_robot0_right_hand_force_z",
"xfrc_applied_robot0_right_hand_torque_x",
"xfrc_applied_robot0_right_hand_torque_y",
"xfrc_applied_robot0_right_hand_torque_z",
"xfrc_applied_gripper0_right_right_gripper_force_x",
"xfrc_applied_gripper0_right_right_gripper_force_y",
"xfrc_applied_gripper0_right_right_gripper_force_z",
"xfrc_applied_gripper0_right_right_gripper_torque_x",
"xfrc_applied_gripper0_right_right_gripper_torque_y",
"xfrc_applied_gripper0_right_right_gripper_torque_z",
"xfrc_applied_gripper0_right_eef_force_x",
"xfrc_applied_gripper0_right_eef_force_y",
"xfrc_applied_gripper0_right_eef_force_z",
"xfrc_applied_gripper0_right_eef_torque_x",
"xfrc_applied_gripper0_right_eef_torque_y",
"xfrc_applied_gripper0_right_eef_torque_z",
"xfrc_applied_gripper0_right_leftfinger_force_x",
"xfrc_applied_gripper0_right_leftfinger_force_y",
"xfrc_applied_gripper0_right_leftfinger_force_z",
"xfrc_applied_gripper0_right_leftfinger_torque_x",
"xfrc_applied_gripper0_right_leftfinger_torque_y",
"xfrc_applied_gripper0_right_leftfinger_torque_z",
"xfrc_applied_gripper0_right_finger_joint1_tip_force_x",
"xfrc_applied_gripper0_right_finger_joint1_tip_force_y",
"xfrc_applied_gripper0_right_finger_joint1_tip_force_z",
"xfrc_applied_gripper0_right_finger_joint1_tip_torque_x",
"xfrc_applied_gripper0_right_finger_joint1_tip_torque_y",
"xfrc_applied_gripper0_right_finger_joint1_tip_torque_z",
"xfrc_applied_gripper0_right_rightfinger_force_x",
"xfrc_applied_gripper0_right_rightfinger_force_y",
"xfrc_applied_gripper0_right_rightfinger_force_z",
"xfrc_applied_gripper0_right_rightfinger_torque_x",
"xfrc_applied_gripper0_right_rightfinger_torque_y",
"xfrc_applied_gripper0_right_rightfinger_torque_z",
"xfrc_applied_gripper0_right_finger_joint2_tip_force_x",
"xfrc_applied_gripper0_right_finger_joint2_tip_force_y",
"xfrc_applied_gripper0_right_finger_joint2_tip_force_z",
"xfrc_applied_gripper0_right_finger_joint2_tip_torque_x",
"xfrc_applied_gripper0_right_finger_joint2_tip_torque_y",
"xfrc_applied_gripper0_right_finger_joint2_tip_torque_z",
"xfrc_applied_fixed_mount0_base_force_x",
"xfrc_applied_fixed_mount0_base_force_y",
"xfrc_applied_fixed_mount0_base_force_z",
"xfrc_applied_fixed_mount0_base_torque_x",
"xfrc_applied_fixed_mount0_base_torque_y",
"xfrc_applied_fixed_mount0_base_torque_z",
"xfrc_applied_fixed_mount0_controller_box_force_x",
"xfrc_applied_fixed_mount0_controller_box_force_y",
"xfrc_applied_fixed_mount0_controller_box_force_z",
"xfrc_applied_fixed_mount0_controller_box_torque_x",
"xfrc_applied_fixed_mount0_controller_box_torque_y",
"xfrc_applied_fixed_mount0_controller_box_torque_z",
"xfrc_applied_fixed_mount0_pedestal_feet_force_x",
"xfrc_applied_fixed_mount0_pedestal_feet_force_y",
"xfrc_applied_fixed_mount0_pedestal_feet_force_z",
"xfrc_applied_fixed_mount0_pedestal_feet_torque_x",
"xfrc_applied_fixed_mount0_pedestal_feet_torque_y",
"xfrc_applied_fixed_mount0_pedestal_feet_torque_z",
"xfrc_applied_fixed_mount0_torso_force_x",
"xfrc_applied_fixed_mount0_torso_force_y",
"xfrc_applied_fixed_mount0_torso_force_z",
"xfrc_applied_fixed_mount0_torso_torque_x",
"xfrc_applied_fixed_mount0_torso_torque_y",
"xfrc_applied_fixed_mount0_torso_torque_z",
"xfrc_applied_fixed_mount0_pedestal_force_x",
"xfrc_applied_fixed_mount0_pedestal_force_y",
"xfrc_applied_fixed_mount0_pedestal_force_z",
"xfrc_applied_fixed_mount0_pedestal_torque_x",
"xfrc_applied_fixed_mount0_pedestal_torque_y",
"xfrc_applied_fixed_mount0_pedestal_torque_z",
"xfrc_applied_cube_main_force_x",
"xfrc_applied_cube_main_force_y",
"xfrc_applied_cube_main_force_z",
"xfrc_applied_cube_main_torque_x",
"xfrc_applied_cube_main_torque_y",
"xfrc_applied_cube_main_torque_z",
"xfrc_applied_lemon_main_force_x",
"xfrc_applied_lemon_main_force_y",
"xfrc_applied_lemon_main_force_z",
"xfrc_applied_lemon_main_torque_x",
"xfrc_applied_lemon_main_torque_y",
"xfrc_applied_lemon_main_torque_z",
"xfrc_applied_milk_main_force_x",
"xfrc_applied_milk_main_force_y",
"xfrc_applied_milk_main_force_z",
"xfrc_applied_milk_main_torque_x",
"xfrc_applied_milk_main_torque_y",
"xfrc_applied_milk_main_torque_z",
"xfrc_applied_bread_main_force_x",
"xfrc_applied_bread_main_force_y",
"xfrc_applied_bread_main_force_z",
"xfrc_applied_bread_main_torque_x",
"xfrc_applied_bread_main_torque_y",
"xfrc_applied_bread_main_torque_z",
"mocap_left_eef_target_position_x",
"mocap_left_eef_target_position_y",
"mocap_left_eef_target_position_z",
"mocap_right_eef_target_position_x",
"mocap_right_eef_target_position_y",
"mocap_right_eef_target_position_z",
"mocap_left_eef_target_quaternion_w",
"mocap_left_eef_target_quaternion_x",
"mocap_left_eef_target_quaternion_y",
"mocap_left_eef_target_quaternion_z",
"mocap_right_eef_target_quaternion_w",
"mocap_right_eef_target_quaternion_x",
"mocap_right_eef_target_quaternion_y",
"mocap_right_eef_target_quaternion_z",
"controller_robot0_right_initial_joint_robot0_joint1",
"controller_robot0_right_initial_joint_robot0_joint2",
"controller_robot0_right_initial_joint_robot0_joint3",
"controller_robot0_right_initial_joint_robot0_joint4",
"controller_robot0_right_initial_joint_robot0_joint5",
"controller_robot0_right_initial_joint_robot0_joint6",
"controller_robot0_right_initial_joint_robot0_joint7",
"controller_robot0_right_gripper_initial_joint_joint_0",
"controller_robot0_right_gripper_initial_joint_joint_1",
"gripper_robot0_right_current_action_0",
"gripper_robot0_right_current_action_1"
]
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"normalized_ee_position_delta_x",
"normalized_ee_position_delta_y",
"normalized_ee_position_delta_z",
"normalized_ee_rotation_delta_x",
"normalized_ee_rotation_delta_y",
"normalized_ee_rotation_delta_z",
"normalized_gripper_command"
]
},
"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": 350,
"total_frames": 11469,
"total_tasks": 6,
"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": "0:350"
}
}
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