---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- robotics
- pusht
- diffusion
configs:
- config_name: default
  data_files: data/*/*.parquet
---
# PushT Dataset

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.
Each episode is initialized with a **randomized** T-block and target position and orientation to ensure a more realistic scenario.

## Environment Details

The dataset was collected using the [gym-pusht](https://github.com/huggingface/gym-pusht) environment, which provides a simple 2D robotic pushing task.

- **Task**: Push the T-shaped gray block onto the T-shaped green target surface using the blue pointer.
- **Observation Space**: RGB images (96×96×3) and agent position (2D coordinates)
- **Action Space**: 2D coordinates for the agent position
- **Success Condition**: The T-shaped block overlaps sufficiently with the target surface
- **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.

## Dataset Creation

This dataset was created through human demonstrations where a single human operator provided demonstrations of successful task completion. 

### Dataset Composition

- **States**: RGB images and agent position coordinates
- **Actions**: 2D position commands for the agent
- **Rewards**: Sparse rewards based on task completion
  - **Metadata**: Success flags and episode information 

## Usage

This dataset is intended for training imitation learning and reinforcement learning policies for object manipulation tasks.

### Loading the Dataset



This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).

## Dataset Description



- **Homepage:** [More Information Needed]
- **Paper:** [More Information Needed]
- **License:** apache-2.0

## Dataset Structure

[meta/info.json](meta/info.json):
```json
{
    "codebase_version": "v2.1",
    "robot_type": "2d pointer",
    "total_episodes": 101,
    "total_frames": 9438,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:101"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "observation.image": {
            "dtype": "image",
            "shape": [
                96,
                96,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                2
            ],
            "names": {
                "motors": [
                    "motor_0",
                    "motor_1"
                ]
            }
        },
        "action": {
            "dtype": "float32",
            "shape": [
                2
            ],
            "names": {
                "motors": [
                    "motor_0",
                    "motor_1"
                ]
            }
        },
        "next.reward": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "next.done": {
            "dtype": "bool",
            "shape": [
                1
            ],
            "names": null
        },
        "next.success": {
            "dtype": "bool",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}
```


## Citation

**BibTeX:**

```bibtex
[More Information Needed]
```