Datasets:

Whalswp
/

INSIGHTparam_multispace_v2

+---
+license: apache-2.0
+task_categories:
+- robotics
+tags:
+- LeRobot
+- INSIGHT
+- robotics
+- ' manipulation'
+- guide
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
+<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=paragon7060/INSIGHTparam">
+<img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
+<img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
+</a>
+## 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": "v3.0",
+    "robot_type": "franka_panda",
+    "total_episodes": 3838,
+    "total_frames": 156738,
+    "total_tasks": 9,
+    "chunks_size": 1000,
+    "fps": 10,
+    "splits": {
+        "train": "0:3838"
+    },
+    "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",
+    "features": {
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                32
+            ],
+            "names": [
+                "ee_x",
+                "ee_y",
+                "ee_z",
+                "ee_qw",
+                "ee_qx",
+                "ee_qy",
+                "ee_qz",
+                "j1",
+                "j2",
+                "j3",
+                "j4",
+                "j5",
+                "j6",
+                "j7",
+                "gripper_1",
+                "gripper_2"
+            ],
+            "fps": 10
+        },
+        "observation.images.wrist": {
+            "dtype": "video",
+            "shape": [
+                672,
+                672,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 672,
+                "video.width": 672,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 10,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_semantic": {
+            "dtype": "video",
+            "shape": [
+                672,
+                672,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 672,
+                "video.width": 672,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 10,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.left_shoulder": {
+            "dtype": "video",
+            "shape": [
+                672,
+                672,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 672,
+                "video.width": 672,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 10,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.left_shoulder_semantic": {
+            "dtype": "video",
+            "shape": [
+                672,
+                672,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 672,
+                "video.width": 672,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 10,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.right_shoulder": {
+            "dtype": "video",
+            "shape": [
+                672,
+                672,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 672,
+                "video.width": 672,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 10,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.right_shoulder_semantic": {
+            "dtype": "video",
+            "shape": [
+                672,
+                672,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 672,
+                "video.width": 672,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 10,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.guide": {
+            "dtype": "video",
+            "shape": [
+                672,
+                672,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 672,
+                "video.width": 672,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 10,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.guide_semantic": {
+            "dtype": "video",
+            "shape": [
+                672,
+                672,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 672,
+                "video.width": 672,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 10,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                32
+            ],
+            "names": [
+                "j1",
+                "j2",
+                "j3",
+                "j4",
+                "j5",
+                "j6",
+                "j7",
+                "gripper"
+            ],
+            "fps": 10
+        },
+        "next.reward": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": [
+                "reward"
+            ],
+            "fps": 10
+        },
+        "action.skill_id": {
+            "dtype": "int32",
+            "shape": [
+                1
+            ],
+            "names": [
+                "skill_id"
+            ],
+            "fps": 10
+        },
+        "action.skill_param": {
+            "dtype": "float32",
+            "shape": [
+                8
+            ],
+            "names": [
+                "param1",
+                "param2",
+                "param3",
+                "param4",
+                "param5",
+                "param6",
+                "param7",
+                "param8"
+            ],
+            "fps": 10
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null,
+            "fps": 10
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null,
+            "fps": 10
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null,
+            "fps": 10
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null,
+            "fps": 10
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null,
+            "fps": 10
+        }
+    },
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 200
+}
+```
+## Citation
+**BibTeX:**
+```bibtex
+[More Information Needed]
+```

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meta/action_spaces.json ADDED Viewed

	@@ -0,0 +1,83 @@

+{
+  "schema_version": 1,
+  "default_action_space": "joint_abs",
+  "canonical_lerobot_action": "action",
+  "state": {
+    "field": "observation.state",
+    "dimension": 16,
+    "layout": [
+      "ee_x",
+      "ee_y",
+      "ee_z",
+      "ee_qw",
+      "ee_qx",
+      "ee_qy",
+      "ee_qz",
+      "j1",
+      "j2",
+      "j3",
+      "j4",
+      "j5",
+      "j6",
+      "j7",
+      "gripper_1",
+      "gripper_2"
+    ],
+    "padding": "none in dataset; model-side padding only"
+  },
+  "spaces": {
+    "joint_abs": {
+      "field": "action.joint_abs",
+      "dimension": 8
+    },
+    "ee_abs_quat": {
+      "field": "action.ee_abs_quat",
+      "dimension": 8
+    },
+    "ee_abs_rot6d": {
+      "field": "action.ee_abs_rot6d",
+      "dimension": 10
+    },
+    "ee_delta": {
+      "field": "action.ee_delta",
+      "dimension": 7
+    }
+  },
+  "conventions": {
+    "verification_reference": "FK of source dataset action[:, :7]",
+    "source_fk_frame": "right_gripper",
+    "source_fk_to_tcp_translation_m": [
+      0.0,
+      0.0,
+      0.0034
+    ],
+    "source_fk_to_tcp_rotation_matrix": [
+      [
+        -1.0,
+        0.0,
+        0.0
+      ],
+      [
+        0.0,
+        -1.0,
+        0.0
+      ],
+      [
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    "ee_abs_quat_order": "wxyz; canonicalized to qw >= 0",
+    "ee_abs_rot6d": "first two rotation-matrix columns concatenated",
+    "ee_delta_frame": "robot base",
+    "ee_delta_reference": "previous action target within the same episode",
+    "ee_delta_first_action": "exact zero pose delta with absolute gripper",
+    "ee_delta_seed": "meta/episodes action.ee_delta.seed_position and seed_quaternion_wxyz",
+    "gripper": "absolute single-finger position copied from source action[:, 7]"
+  },
+  "training": {
+    "selection_argument": "--action-space joint_abs|ee_abs_quat|ee_abs_rot6d|ee_delta",
+    "padding": "normalize native active dimensions first, then model-side pad and mask"
+  }
+}

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	@@ -0,0 +1,63 @@

+{
+  "schema_version": 1,
+  "created_at_utc": "2026-07-15T11:05:50.907980+00:00",
+  "source_dataset": "/home/ext_minje/INSIGHTparam",
+  "source_info_sha256": "4cca01fc13d5729707b290ac57cc9437bc951b694087d5e50602116512a235b0",
+  "source_data_sha256": {
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+  },
+  "converter": "/home/ext_minje/clvla/benchmarks/INSIGHT/convert_dataset/action space/convert_multispace_dataset.py",
+  "conversion_function": "fk_worker + v2 action-space assembly",
+  "runtime_split": {
+    "parquet_and_stats_python": "/home/ext_minje/miniforge3/envs/lerobot060_groot/bin/python",
+    "lula_fk_python": "/home/ext_minje/miniforge3/envs/env_insightbench_eval/bin/python"
+  },
+  "delta_frame": "base",
+  "native_dimensions": {
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+    "action": 8,
+    "action.joint_abs": 8,
+    "action.ee_abs_quat": 8,
+    "action.ee_abs_rot6d": 10,
+    "action.ee_delta": 7
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+  "video_transfer": "hardlink where supported, copy fallback",
+  "video_files": 24,
+  "stats_status": "complete",
+  "episode_metadata_sha256": {
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+  },
+  "parquet_compression": {
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+    "episode_metadata": "snappy"
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+  "stats_recompute": {
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+    "environment_python": "/home/ext_minje/miniforge3/envs/lerobot060_groot/bin/python",
+    "lerobot_version": "0.6.0",
+    "tool": "python -m lerobot.scripts.lerobot_edit_dataset",
+    "operation": "recompute_stats",
+    "output_mode": "in_place via --new_root equal to --root",
+    "skip_image_video": true,
+    "numeric_fields": [
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+      "action.ee_abs_quat",
+      "action.ee_abs_rot6d",
+      "action.ee_delta",
+      "action.joint_abs",
+      "action.skill_id",
+      "action.skill_param",
+      "episode_index",
+      "frame_index",
+      "index",
+      "next.reward",
+      "observation.state",
+      "task_index",
+      "timestamp"
+    ]
+  },
+  "stats_json_sha256": "c89408d82d9f7be3e804907657f64734dd3da386e79926d78a721a1074a997ef"
+}

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+{
+  "codebase_version": "v3.0",
+  "robot_type": "franka_panda",
+  "total_episodes": 3838,
+  "total_frames": 156738,
+  "total_tasks": 9,
+  "chunks_size": 1000,
+  "fps": 10,
+  "splits": {
+    "train": "0:3838"
+  },
+  "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",
+  "features": {
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+        "ee_y",
+        "ee_z",
+        "ee_qw",
+        "ee_qx",
+        "ee_qy",
+        "ee_qz",
+        "j1",
+        "j2",
+        "j3",
+        "j4",
+        "j5",
+        "j6",
+        "j7",
+        "gripper_1",
+        "gripper_2"
+      ],
+      "fps": 10
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+        672,
+        3
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+        "height",
+        "width",
+        "channels"
+      ],
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+        "video.width": 672,
+        "video.codec": "av1",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "video.fps": 10,
+        "video.channels": 3,
+        "has_audio": false
+      }
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+        "has_audio": false
+      }
+    },
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+      "shape": [
+        8
+      ],
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+        "j1",
+        "j2",
+        "j3",
+        "j4",
+        "j5",
+        "j6",
+        "j7",
+        "gripper"
+      ],
+      "fps": 10
+    },
+    "action.joint_abs": {
+      "dtype": "float32",
+      "shape": [
+        8
+      ],
+      "names": [
+        "j1",
+        "j2",
+        "j3",
+        "j4",
+        "j5",
+        "j6",
+        "j7",
+        "gripper"
+      ],
+      "fps": 10
+    },
+    "action.ee_abs_quat": {
+      "dtype": "float32",
+      "shape": [
+        8
+      ],
+      "names": [
+        "x",
+        "y",
+        "z",
+        "qw",
+        "qx",
+        "qy",
+        "qz",
+        "gripper"
+      ],
+      "fps": 10
+    },
+    "action.ee_abs_rot6d": {
+      "dtype": "float32",
+      "shape": [
+        10
+      ],
+      "names": [
+        "x",
+        "y",
+        "z",
+        "r_col0_x",
+        "r_col0_y",
+        "r_col0_z",
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+        "r_col1_y",
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+}

meta/robot_only_kinematic_report.json ADDED Viewed

	@@ -0,0 +1,959 @@

+{
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+  "canonical_action_vs_source_first8_bitwise_equal": true,
+  "canonical_action_vs_joint_abs_bitwise_equal": true,
+  "all_gripper_copies_bitwise_equal": true,
+  "stored_arrays_readback_bitwise_equal": true,
+  "nonconverted_data_columns_arrow_equal": true,
+  "numeric_thresholds": {
+    "position_m": 1e-05,
+    "rotation_rad": 0.0001
+  },
+  "numeric_metrics": {
+    "quat_vs_source_fk_max_position_m": 5.962368144558971e-08,
+    "quat_vs_source_fk_max_rotation_rad": 1.0106459234841571e-07,
+    "rot6d_vs_source_fk_max_position_m": 5.962368144558971e-08,
+    "rot6d_vs_source_fk_max_rotation_rad": 5.960464477539064e-08,
+    "delta_vs_source_fk_max_position_m": 1.4195658029586193e-08,
+    "delta_vs_source_fk_max_rotation_rad": 2.5023304855446086e-07,
+    "quat_norm_max_abs_error": 1.1920928955078125e-07,
+    "rot6d_col_norm_max_abs_error": 5.960464477539063e-08,
+    "rot6d_col_dot_max_abs": 9.685754776000977e-08
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+  "robot_only_kinematic": {
+    "status": "pass",
+    "source_joint_branch_equivalence_status": "pass",
+    "counts": {
+      "episodes": 9,
+      "numeric_pass": 9,
+      "target_equivalence_pass": 9,
+      "kinematic_equivalence_pass": 9,
+      "strict_ik_pass": 9
+    },
+    "report": "meta/robot_only_kinematic_report.json",
+    "note": "Representation equivalence is the conversion criterion. A partial source-joint branch result can occur because 7-DOF IK is redundant and local DLS may select a different branch."
+  },
+  "stats_verification": {
+    "status": "pass",
+    "lerobot_version": "0.6.0",
+    "frame_count": 156738,
+    "numeric_fields_checked": 14,
+    "direct_float64_min_max_mean_std_max_abs_difference": 7.23219929499308e-08,
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+    "provenance": "lerobot_edit_dataset recompute_stats written in-place",
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+}

task_prompts.json ADDED Viewed

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+{
+  "schema_version": "1.0",
+  "description": "Natural-language task prompts for Whalswp/INSIGHTfixposV4_EE_quat. Choose a prompt set during training; task keys match meta/tasks.parquet.",
+  "task_order": [
+    "1ext",
+    "3a",
+    "3b",
+    "3c",
+    "3d",
+    "5a",
+    "5b",
+    "5c",
+    "5d",
+    "5e",
+    "5f",
+    "5g",
+    "5h"
+  ],
+  "prompt_sets": {
+    "coarse": {
+      "description": "High-level task descriptions.",
+      "prompts": {
+        "1ext": "Open the cabinet following the guide.",
+        "3a": "Open the door following the guide.",
+        "3b": "Open the door following the guide.",
+        "3c": "Open the door following the guide.",
+        "3d": "Open the door following the guide.",
+        "5a": "Open the bottle following the guide.",
+        "5b": "Open the bottle following the guide.",
+        "5c": "Open the bottle following the guide.",
+        "5d": "Close the bottle following the guide.",
+        "5e": "Close the bottle following the guide.",
+        "5f": "Close the bottle following the guide.",
+        "5g": "Open the bottle following the guide.",
+        "5h": "Close the bottle cap following the guide."
+      }
+    },
+    "detailed": {
+      "description": "Direction- and interaction-specific task descriptions.",
+      "prompts": {
+        "1ext": "Find the arrow guide and open the indicated drawer.",
+        "3a": "Open the door, rotate clockwise and push.",
+        "3b": "Open the door, rotate counter-clockwise and push.",
+        "3c": "Open the door, rotate clockwise and pull.",
+        "3d": "Open the door, rotate counter-clockwise and pull.",
+        "5a": "Grip the cap on the sides indicated by the 'squeeze' arrow and open the bottle in counter-clockwise direction.",
+        "5b": "Open the bottle in counter-clockwise direction.",
+        "5c": "Open the bottle in clockwise direction.",
+        "5d": "Close the bottle in clockwise direction.",
+        "5e": "Close the bottle in counter-clockwise direction.",
+        "5f": "Close the bottle in clockwise direction.",
+        "5g": "Grip the cap on the sides indicated by the 'squeeze' arrow and open the bottle in clockwise direction.",
+        "5h": "Close the bottle in counter-clockwise direction."
+      }
+    }
+  }
+}

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