Datasets:
File size: 4,605 Bytes
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---
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": "0:281"
},
"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]
``` |