the-future-dev/pusht-image-v1

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 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.

Dataset Structure

meta/info.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:

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