Datasets:

imbench
/

pb-pr-bounce-intercept-v1

index int64 210 90.3k ⌀	timestamp float64 0 2.84 ⌀	episode_index int64 0 209 ⌀	action.2 float64 -1 1 ⌀	action.3 float64 -0.12 0.07 ⌀	action.4 float64 -0.31 0.38 ⌀	action.5 float64 -0.05 0.07 ⌀	action.6 float64 -1 1 ⌀	observation.robot0_eef_pos.0 float64 -0.31 0.27 ⌀	observation.robot0_eef_pos.1 float64 -0.26 0.18 ⌀	observation.robot0_eef_pos.2 float64 0.81 1.01 ⌀	observation.robot0_eef_quat.0 float64 1 1 ⌀	observation.robot0_eef_quat.1 float64 -0.01 0.01 ⌀	observation.robot0_eef_quat.2 float64 -0.05 0.06 ⌀	observation.robot0_eef_quat.3 float64 -0.02 0.01 ⌀	observation.robot0_gripper_qpos.0 float64 0.01 0.04 ⌀	observation.robot0_gripper_qpos.1 float64 -0.04 -0.01 ⌀	observation.robot0_joint_pos.0 float64 -0.28 0.43 ⌀	observation.robot0_joint_pos.1 float64 0.15 1.71 ⌀	observation.robot0_joint_pos.2 float64 -0.14 0.34 ⌀	observation.robot0_joint_pos.3 float64 -3.08 -0.06 ⌀	observation.robot0_joint_pos.4 float64 -0.35 0.43 ⌀	observation.robot0_joint_pos.5 float64 1.62 3.76 ⌀	observation.robot0_joint_pos.6 float64 0.2 1.44 ⌀	observation.robot0_joint_vel.0 float64 -0.49 0.89 ⌀	observation.robot0_joint_vel.1 float64 -2.31 1.53 ⌀	observation.robot0_joint_vel.2 float64 -0.37 0.41 ⌀	observation.robot0_joint_vel.3 float64 -1.02 1.98 ⌀	observation.robot0_joint_vel.4 float64 -0.71 1.11 ⌀	observation.robot0_joint_vel.5 float64 -2.58 1.5 ⌀	observation.robot0_joint_vel.6 float64 -1.13 1.3 ⌀	observation.object_state.0 float64 -0.31 0.31 ⌀	observation.object_state.1 float64 -0.26 0.26 ⌀	observation.object_state.2 float64 0.81 1.02 ⌀	observation.object_state.3 float64 -0.97 0.95 ⌀	observation.object_state.4 float64 -0.97 0.97 ⌀	observation.object_state.5 float64 -0.98 0.98 ⌀	observation.object_state.6 float64 -1 1 ⌀	observation.object_state.7 float64 -0.24 0.37 ⌀	observation.object_state.8 float64 -0.26 0.26 ⌀	observation.object_state.9 float64 -0.19 0.02 ⌀	observation.force_torque.0 float64 -286.64 15 ⌀	observation.force_torque.1 float64 -60.26 256 ⌀	observation.force_torque.2 float64 -8.3 283 ⌀	observation.force_torque.3 float64 -26.93 7.8 ⌀	observation.force_torque.4 float64 -8.4 12.1 ⌀	observation.force_torque.5 float64 -12.39 0.96 ⌀	observation.force_torque_world.0 float64 -94.39 261 ⌀	observation.force_torque_world.1 float64 -283.93 15.6 ⌀	observation.force_torque_world.2 float64 -278.53 8.29 ⌀	observation.robot0_tactile_right.0 float64 0 4.24 ⌀	observation.robot0_tactile_right.1 float64 0 5.31 ⌀	observation.robot0_tactile_right.2 float64 0 4.97 ⌀	observation.robot0_tactile_right.3 float64 0 4.46 ⌀	observation.robot0_tactile_right.4 float64 0 3.79 ⌀	observation.robot0_tactile_right.5 float64 0 2.92 ⌀	observation.robot0_tactile_right.6 float64 0 1.89 ⌀	observation.robot0_tactile_right.7 float64 0 0.3 ⌀	observation.robot0_tactile_right.8 float64 0 5.59 ⌀	observation.robot0_tactile_right.9 float64 0 6.04 ⌀	observation.robot0_tactile_right.10 float64 0 5.55 ⌀	observation.robot0_tactile_right.11 float64 0 4.92 ⌀	observation.robot0_tactile_right.12 float64 0 4.06 ⌀	observation.robot0_tactile_right.13 float64 0 2.93 ⌀	observation.robot0_tactile_right.14 float64 0 0.56 ⌀	observation.robot0_tactile_right.15 float64 0 0.38 ⌀	observation.robot0_tactile_right.16 float64 0 5.26 ⌀	observation.robot0_tactile_right.17 float64 0 5.64 ⌀	observation.robot0_tactile_right.18 float64 0 4.52 ⌀	observation.robot0_tactile_right.19 float64 0 3.84 ⌀	observation.robot0_tactile_right.20 float64 0 2.92 ⌀	observation.robot0_tactile_right.21 float64 0 1.86 ⌀	observation.robot0_tactile_right.22 float64 0 0.4 ⌀	observation.robot0_tactile_right.23 float64 0 0.57 ⌀	observation.robot0_tactile_right.24 float64 0 4.77 ⌀	observation.robot0_tactile_right.25 float64 0 5.02 ⌀	observation.robot0_tactile_right.26 float64 0 3.63 ⌀	observation.robot0_tactile_right.27 float64 0 2.47 ⌀	observation.robot0_tactile_right.28 float64 0 0.59 ⌀	observation.robot0_tactile_right.29 float64 0 0.52 ⌀	observation.robot0_tactile_right.30 float64 0 0.49 ⌀	observation.robot0_tactile_right.31 float64 0 1.93 ⌀	observation.robot0_tactile_right.32 float64 0 4.81 ⌀	observation.robot0_tactile_right.33 float64 0 4.7 ⌀	observation.robot0_tactile_right.34 float64 0 3.2 ⌀	observation.robot0_tactile_right.35 float64 0 1.78 ⌀	observation.robot0_tactile_right.36 float64 0 0.57 ⌀	observation.robot0_tactile_right.37 float64 0 0.44 ⌀	observation.robot0_tactile_right.38 float64 0 1.38 ⌀	observation.robot0_tactile_right.39 float64 0 4.49 ⌀	observation.robot0_tactile_right.40 float64 0 6.66 ⌀	observation.robot0_tactile_right.41 float64 0 6.29 ⌀	observation.robot0_tactile_right.42 float64 0 4.47 ⌀	observation.robot0_tactile_right.43 float64 0 3.43 ⌀	observation.robot0_tactile_right.44 float64 0 2.16 ⌀	observation.robot0_tactile_right.45 float64 0 0.43 ⌀	observation.robot0_tactile_right.46 float64 0 1.99 ⌀	observation.robot0_tactile_right.47 float64 0 6.2 ⌀	observation.robot0_tactile_right.48 float64 0 8.2 ⌀	observation.robot0_tactile_right.49 float64 0 8.23 ⌀	observation.robot0_tactile_right.50 float64 0 5.99 ⌀	observation.robot0_tactile_right.51 float64 0 4.75 ⌀	observation.robot0_tactile_right.52 float64 0 3.51 ⌀	observation.robot0_tactile_right.53 float64 0 1.32 ⌀	observation.robot0_tactile_right.54 float64 0 6.62 ⌀	observation.robot0_tactile_right.55 float64 0 8.37 ⌀	observation.robot0_tactile_right.56 float64 0 7.21 ⌀	observation.robot0_tactile_right.57 float64 0 7.84 ⌀	observation.robot0_tactile_right.58 float64 0 5.82 ⌀	observation.robot0_tactile_right.59 float64 0 4.69 ⌀	observation.robot0_tactile_right.60 float64 0 3.51 ⌀	observation.robot0_tactile_right.61 float64 0 3.24 ⌀	observation.robot0_tactile_right.62 float64 0 7.17 ⌀	observation.robot0_tactile_right.63 float64 0 7.59 ⌀	observation.robot0_tactile_left.0 float64 0 1.53 ⌀	observation.robot0_tactile_left.1 float64 0 2.6 ⌀	observation.robot0_tactile_left.2 float64 0 3.27 ⌀	observation.robot0_tactile_left.3 float64 0 3.82 ⌀	observation.robot0_tactile_left.4 float64 0 4.3 ⌀	observation.robot0_tactile_left.5 float64 0 4.77 ⌀	observation.robot0_tactile_left.6 float64 0 5.56 ⌀	observation.robot0_tactile_left.7 float64 0 4.47 ⌀	observation.robot0_tactile_left.8 float64 0 1.48 ⌀	observation.robot0_tactile_left.9 float64 0 2.55 ⌀	observation.robot0_tactile_left.10 float64 0 3.35 ⌀	observation.robot0_tactile_left.11 float64 0 3.99 ⌀	observation.robot0_tactile_left.12 float64 0 4.67 ⌀	observation.robot0_tactile_left.13 float64 0 5.28 ⌀	observation.robot0_tactile_left.14 float64 0 6.05 ⌀	observation.robot0_tactile_left.15 float64 0 5.6 ⌀	observation.robot0_tactile_left.16 float64 0 0.78 ⌀	observation.robot0_tactile_left.17 float64 0 1.55 ⌀	observation.robot0_tactile_left.18 float64 0 2.33 ⌀	observation.robot0_tactile_left.19 float64 0 2.94 ⌀	observation.robot0_tactile_left.20 float64 0 3.64 ⌀	observation.robot0_tactile_left.21 float64 0 4.25 ⌀	observation.robot0_tactile_left.22 float64 0 5.65 ⌀	observation.robot0_tactile_left.23 float64 0 5.27 ⌀	observation.robot0_tactile_left.24 float64 0 0.23 ⌀	observation.robot0_tactile_left.25 float64 0 0.69 ⌀	observation.robot0_tactile_left.26 float64 0 1.26 ⌀	observation.robot0_tactile_left.27 float64 0 1.9 ⌀	observation.robot0_tactile_left.28 float64 0 2.49 ⌀	observation.robot0_tactile_left.29 float64 0 3.57 ⌀	observation.robot0_tactile_left.30 float64 0 5.04 ⌀	observation.robot0_tactile_left.31 float64 0 4.79 ⌀	observation.robot0_tactile_left.32 float64 0 0 ⌀	observation.robot0_tactile_left.33 float64 0 0.14 ⌀	observation.robot0_tactile_left.34 float64 0 0.57 ⌀	observation.robot0_tactile_left.35 float64 0 1.16 ⌀	observation.robot0_tactile_left.36 float64 0 2.03 ⌀	observation.robot0_tactile_left.37 float64 0 3 ⌀	observation.robot0_tactile_left.38 float64 0 4.68 ⌀	observation.robot0_tactile_left.39 float64 0 4.9 ⌀	observation.robot0_tactile_left.40 float64 0 0 ⌀	observation.robot0_tactile_left.41 float64 0 0.68 ⌀	observation.robot0_tactile_left.42 float64 0 1.43 ⌀	observation.robot0_tactile_left.43 float64 0 2.41 ⌀	observation.robot0_tactile_left.44 float64 0 3.36 ⌀	observation.robot0_tactile_left.45 float64 0 4.26 ⌀	observation.robot0_tactile_left.46 float64 0 6.4 ⌀	observation.robot0_tactile_left.47 float64 0 6.71 ⌀	observation.robot0_tactile_left.48 float64 0 0.61 ⌀	observation.robot0_tactile_left.49 float64 0 1.5 ⌀	observation.robot0_tactile_left.50 float64 0 2.66 ⌀	observation.robot0_tactile_left.51 float64 0 3.66 ⌀	observation.robot0_tactile_left.52 float64 0 4.63 ⌀	observation.robot0_tactile_left.53 float64 0 5.84 ⌀	observation.robot0_tactile_left.54 float64 0 8.3 ⌀	observation.robot0_tactile_left.55 float64 0 8.35 ⌀	observation.robot0_tactile_left.56 float64 0 0.83 ⌀	observation.robot0_tactile_left.57 float64 0 1.87 ⌀	observation.robot0_tactile_left.58 float64 0 2.83 ⌀	observation.robot0_tactile_left.59 float64 0 3.66 ⌀	observation.robot0_tactile_left.60 float64 0 4.41 ⌀	observation.robot0_tactile_left.61 float64 0 5.91 ⌀	observation.robot0_tactile_left.62 float64 0 7.89 ⌀	observation.robot0_tactile_left.63 float64 0 7.25 ⌀	observation.object_pos.0 float64 -0.31 0.31 ⌀	observation.object_pos.1 float64 -0.26 0.26 ⌀	observation.object_pos.2 float64 0.81 1.02 ⌀	observation.object_quat.0 float64 -0.97 0.95 ⌀	observation.object_quat.1 float64 -0.97 0.97 ⌀	observation.object_quat.2 float64 -0.98 0.98 ⌀	observation.object_quat.3 float64 -1 1 ⌀	observation.joint_positions.0 float64 -0.28 0.43 ⌀	observation.joint_positions.1 float64 0.15 1.71 ⌀	observation.joint_positions.2 float64 -0.14 0.34 ⌀	observation.joint_positions.3 float64 -3.08 -0.06 ⌀	observation.joint_positions.4 float64 -0.35 0.43 ⌀	observation.joint_positions.5 float64 1.61 3.76 ⌀	observation.joint_positions.6 float64 0.2 1.44 ⌀	observation.joint_positions.7 float64 0.01 0.04 ⌀	observation.joint_positions.8 float64 -0.04 -0.01 ⌀	observation.ee_poses.0 float64 -0.31 0.27 ⌀	observation.ee_poses.1 float64 -0.26 0.18 ⌀	observation.ee_poses.2 float64 0.81 1.01 ⌀	observation.ee_poses.3 float64 0.7 0.71 ⌀	observation.ee_poses.4 float64 0.7 0.71 ⌀	observation.ee_poses.5 float64 -0.03 0.04 ⌀	observation.ee_poses.6 float64 -0.05 0.04 ⌀	observation.ee_poses.7 float64 0.01 0.04 ⌀	observation.ee_poses.8 float64 -0.04 -0.01 ⌀	frame_index.rgb_gripper_cam float64 0 590 ⌀	frame_index.rgb_exo_front_cam float64 0 590 ⌀	frame_index.rgb_exo_bird_cam float64 0 590 ⌀
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225	0.15	1	-0.816899	0.000044	0.114882	-0.001349	-1	-0.061678	-0.000012	0.968075	0.999817	0.000225	0.019146	0.000007	0.033954	-0.033954	-0.000002	0.319687	-0.000021	-2.571247	0.000007	2.928256	0.785413	-0.000014	1.006417	-0.000044	0.511326	0.000054	0.009035	0.000101	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	0.340219	0.00007	5.82892	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	-0.000002	0.321687	-0.000021	-2.570227	0.000007	2.928279	0.785413	0.034069	-0.03407	-0.061669	-0.000012	0.967451	0.706825	0.707143	0.013189	0.0132	0.034069	-0.03407	null	null	null
226	0.16	1	-0.780024	0.000041	0.100761	-0.001343	-1	-0.06161	-0.000012	0.965002	0.999859	0.000224	0.016793	0.000007	0.034506	-0.034506	-0.000002	0.329577	-0.000022	-2.566174	0.000007	2.928443	0.785414	-0.000014	0.976909	-0.000042	0.504032	0.000054	0.025029	0.0001	0.083979	0.171459	0.819634	0.37462	0.902255	-0.000114	-0.213531	0.145589	0.171472	-0.145368	-0.000211	0.478622	-5.84791	-0.54291	-0.000182	-0.000021	0.287224	0.00004	5.86043	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0.083979	0.171459	0.819634	0.37462	0.902255	-0.000114	-0.213531	-0.000002	0.331517	-0.000022	-2.565171	0.000007	2.928498	0.785414	0.034609	-0.03461	-0.06159	-0.000012	0.964401	0.706854	0.70717	0.011553	0.011562	0.034609	-0.03461	4	4	4
227	0.17	1	-0.744538	0.000039	0.087773	-0.001337	-1	-0.061494	-0.000013	0.962045	0.999893	0.000223	0.014628	0.000006	0.034999	-0.034999	-0.000002	0.339152	-0.000022	-2.561195	0.000008	2.928783	0.785415	-0.000014	0.944242	-0.00004	0.493446	0.000055	0.039942	0.0001	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	0.240263	0.000029	5.873941	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	-0.000002	0.341026	-0.000022	-2.560214	0.000008	2.928868	0.785415	0.035091	-0.035091	-0.061467	-0.000013	0.961468	0.706878	0.707193	0.010049	0.010058	0.035091	-0.035091	null	null	null
228	0.18	1	-0.710485	0.000036	0.075878	-0.001331	-1	-0.061341	-0.000013	0.959207	0.99992	0.000222	0.012646	0.000006	0.035437	-0.035437	-0.000002	0.348389	-0.000023	-2.556337	0.000008	2.929268	0.785416	-0.000014	0.90966	-0.000039	0.48035	0.000055	0.05393	0.000099	0.094176	0.167228	0.819635	0.33768	0.81324	-0.000163	-0.473932	0.155517	0.167241	-0.139572	-0.000166	0.343236	-5.867873	-0.484887	-0.000162	-0.000014	0.199139	0.000025	5.874529	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0	0.094176	0.167228	0.819635	0.33768	0.81324	-0.000163	-0.473932	-0.000002	0.350193	-0.000023	-2.555383	0.000008	2.92938	0.785416	0.035519	-0.035519	-0.061307	-0.000013	0.958654	0.706897	0.70721	0.008672	0.008681	0.035519	-0.035519	null	null	null

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PB PR Bounce Intercept V1

This dataset is part of the IMBench suite, distributed in the LeRobot v3.0 format.

Overview


Episodes	10
Total frames	2346
FPS	100
Robot	Panda
Cameras	3 (rgb_exo_bird_cam, rgb_exo_front_cam, rgb_gripper_cam)

Visualize

Browse episodes interactively in the LeRobot Visualizer:

→ https://lerobot-visualize-dataset.hf.space/imbench/pb-pr-bounce-intercept-v1/episode_0

Load with LeRobot

from lerobot.common.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset("imbench/pb-pr-bounce-intercept-v1")

Features

action — float32, shape=[7]
frame_index.rgb_exo_bird_cam — int64, shape=[1]
frame_index.rgb_exo_front_cam — int64, shape=[1]
frame_index.rgb_gripper_cam — int64, shape=[1]
observation.ee_poses — float32, shape=[9]
observation.force_torque — float32, shape=[6]
observation.force_torque_world — float32, shape=[3]
observation.joint_positions — float32, shape=[9]
observation.object_pos — float32, shape=[3]
observation.object_quat — float32, shape=[4]
observation.object_state — float32, shape=[10]
observation.rgb_exo_bird_cam — video, shape=[480, 640, 3]
observation.rgb_exo_front_cam — video, shape=[480, 640, 3]
observation.rgb_gripper_cam — video, shape=[480, 640, 3]
observation.robot0_eef_pos — float32, shape=[3]
observation.robot0_eef_quat — float32, shape=[4]
observation.robot0_gripper_qpos — float32, shape=[2]
observation.robot0_joint_pos — float32, shape=[7]
observation.robot0_joint_vel — float32, shape=[7]
observation.robot0_tactile_left — float32, shape=[8, 8]
observation.robot0_tactile_right — float32, shape=[8, 8]
reward — float32, shape=[1]
task_score — float32, shape=[1]

Files

data/chunk-000/file-000.parquet            # frame data, all episodes aggregated
videos/observation.<cam>/chunk-000/...     # per-camera video shards
meta/
  info.json
  stats.json
  tasks.parquet
  episodes_extra.json
  episodes/chunk-000/file-000.parquet

License

Released under the APACHE-2.0 license.

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