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Datasets:
chaoqi-liu
/
mshab_settable_w_depth

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
100K - 1M
Tags:
lerobot
LeRobot
robotics
mshab
ms-hab
settable
Libraries:
Datasets
Dask
Polars
Dataset card Data Studio Files
xet
 Community
1
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observation.state
list
observation.agent.qpos
list
observation.agent.qvel
list
observation.extra.tcp_pose_wrt_base
list
observation.extra.obj_pose_wrt_base
list
observation.extra.goal_pos_wrt_base
list
observation.extra.is_grasped
int64
action
list
reward
float32
success
int64
fail
int64
terminated
int64
truncated
int64
observation.depth.fetch_head
array 3D
observation.camera.fetch_head.cam2world_gl
array 2D
observation.camera.fetch_head.extrinsic_cv
array 2D
observation.camera.fetch_head.intrinsic_cv
array 2D
observation.depth.fetch_hand
array 3D
observation.camera.fetch_hand.cam2world_gl
array 2D
observation.camera.fetch_hand.extrinsic_cv
array 2D
observation.camera.fetch_hand.intrinsic_cv
array 2D
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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mshab_settable_w_depth

LeRobot-format conversion of the released MS-HAB SetTable subtasks.

Source

  • released source repo: datasets/arth-shukla/MS-HAB-SetTable
  • benchmark scope: SetTable subtasks only
  • task strings in this LeRobot dataset: set table: pick object, set table: place object, set table: open fridge, set table: open drawer, set table: close fridge, set table: close drawer
  • split mapping: LeRobot train contains all exported released episodes
  • fps: 20

Dataset Structure

meta/info.json:

{
  "codebase_version": "v3.0",
  "robot_type": "fetch",
  "total_episodes": 8000,
  "total_frames": 365533,
  "total_tasks": 6,
  "fps": 20,
  "splits": {"train": "0:8000"},
  "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"
}

Counts

Per task instruction

  • set table: close drawer: 1000 episodes
  • set table: close fridge: 1000 episodes
  • set table: open drawer: 1000 episodes
  • set table: open fridge: 1000 episodes
  • set table: pick object: 2000 episodes
  • set table: place object: 2000 episodes

Per released source config

  • close-fridge: 1000 episodes
  • close-kitchen_counter: 1000 episodes
  • open-fridge: 1000 episodes
  • open-kitchen_counter: 1000 episodes
  • pick-013_apple: 1000 episodes
  • pick-024_bowl: 1000 episodes
  • place-013_apple: 1000 episodes
  • place-024_bowl: 1000 episodes

Observation mapping

  • observation.state: 42-D flat benchmark state
  • observation.agent.qpos: 12 dims
  • observation.agent.qvel: 12 dims
  • observation.extra.tcp_pose_wrt_base: 7 dims
  • observation.extra.obj_pose_wrt_base: 7 dims
  • observation.extra.goal_pos_wrt_base: 3 dims
  • observation.extra.is_grasped: 1 dims
  • observation.images.fetch_head: RGB video (128, 128, 3)
  • observation.images.fetch_hand: RGB video (128, 128, 3)
  • observation.depth.fetch_head: int16 depth (128, 128, 1)
  • observation.depth.fetch_hand: int16 depth (128, 128, 1)
  • observation.camera.*: preserved camera matrices from the released HDF5 source

Action mapping

  • action: 13-D float32 control in controller order
  • names: arm.shoulder_pan_joint, arm.shoulder_lift_joint, arm.upperarm_roll_joint, arm.elbow_flex_joint, arm.forearm_roll_joint, arm.wrist_flex_joint, arm.wrist_roll_joint, gripper.control, body.head_pan_joint, body.head_tilt_joint, body.torso_lift_joint, base.forward_velocity, base.rotation_velocity

Episode metadata

  • per-episode released-source metadata is stored in meta/mshab_source_episodes.jsonl
  • conversion summary and verification are stored in meta/mshab_settable_export_report.json

Notes

  • MS-HAB SetTable release stores one observation before each action, so export aligns observation[t] with action[t].
  • RGB cameras are stored as LeRobot videos under observation.images.fetch_head and observation.images.fetch_hand.
  • Depth streams are preserved as int16 arrays under observation.depth.fetch_head and observation.depth.fetch_hand.
  • Task strings are natural-language instructions such as set table: open drawer, not short benchmark labels.
  • Episodes are truncated at the first successful action frame when success is observed.
  • Released HDF5 action rows are clipped to the normalized MS-HAB env action box before export.
  • The full 8-way released config identity remains available in meta/mshab_source_episodes.jsonl.
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Number of rows:
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Total file size:
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