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--- |
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license: apache-2.0 |
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task_categories: |
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- robotics |
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tags: |
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- LeRobot |
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- robotics |
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- pusht |
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- diffusion |
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configs: |
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- config_name: default |
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data_files: data/*/*.parquet |
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--- |
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# PushT Dataset |
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This dataset contains demonstrations for the PushT environment, a robotic manipulation task where an agent needs to push a T-shaped object onto a matching target surface. |
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Each episode is initialized with a **randomized** T-block and target position and orientation to ensure a more realistic scenario. |
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## Environment Details |
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The dataset was collected using the [gym-pusht](https://github.com/huggingface/gym-pusht) environment, which provides a simple 2D robotic pushing task. |
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- **Task**: Push the T-shaped gray block onto the T-shaped green target surface using the blue pointer. |
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- **Observation Space**: RGB images (96×96×3) and agent position (2D coordinates) |
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- **Action Space**: 2D coordinates for the agent position |
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- **Success Condition**: The T-shaped block overlaps sufficiently with the target surface |
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- **Randomized Goals**: This dataset uses a variation of the environment with `randomize_goal=True`, which randomizes the goal position for each episode, creating a more diverse and challenging dataset. |
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## Dataset Creation |
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This dataset was created through human demonstrations where a single human operator provided demonstrations of successful task completion. |
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### Dataset Composition |
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- **States**: RGB images and agent position coordinates |
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- **Actions**: 2D position commands for the agent |
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- **Rewards**: Sparse rewards based on task completion |
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- **Metadata**: Success flags and episode information |
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## Usage |
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This dataset is intended for training imitation learning and reinforcement learning policies for object manipulation tasks. |
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### Loading the Dataset |
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This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
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## Dataset Description |
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- **Homepage:** [More Information Needed] |
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- **Paper:** [More Information Needed] |
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- **License:** apache-2.0 |
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## Dataset Structure |
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[meta/info.json](meta/info.json): |
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```json |
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{ |
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"codebase_version": "v2.1", |
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"robot_type": "2d pointer", |
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"total_episodes": 101, |
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"total_frames": 9438, |
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"total_tasks": 1, |
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"total_videos": 0, |
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"total_chunks": 1, |
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"chunks_size": 1000, |
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"fps": 10, |
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"splits": { |
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"train": "0:101" |
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}, |
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", |
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", |
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"features": { |
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"observation.image": { |
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"dtype": "image", |
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"shape": [ |
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96, |
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96, |
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3 |
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], |
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"names": [ |
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"height", |
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"width", |
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"channel" |
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] |
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}, |
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"observation.state": { |
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"dtype": "float32", |
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"shape": [ |
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2 |
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], |
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"names": { |
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"motors": [ |
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"motor_0", |
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"motor_1" |
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] |
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} |
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}, |
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"action": { |
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"dtype": "float32", |
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"shape": [ |
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2 |
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], |
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"names": { |
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"motors": [ |
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"motor_0", |
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"motor_1" |
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] |
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} |
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}, |
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"next.reward": { |
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"dtype": "float32", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"next.done": { |
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"dtype": "bool", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"next.success": { |
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"dtype": "bool", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"episode_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"frame_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"timestamp": { |
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"dtype": "float32", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"task_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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} |
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} |
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} |
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``` |
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## Citation |
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**BibTeX:** |
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```bibtex |
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[More Information Needed] |
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``` |
