Datasets:

imbench
/

pb-pr-mirror-pick-place-v1

index int64 2.18k 33.3k ⌀	timestamp float64 0 7.55 ⌀	episode_index int64 0 48 ⌀	action.1 float64 -0.3 0.3 ⌀	action.2 float64 -0.3 0.3 ⌀	action.6 float64 -1 1 ⌀	observation.robot0_eef_pos.0 float64 -0.17 0.14 ⌀	observation.robot0_eef_pos.1 float64 -0.15 0.12 ⌀	observation.robot0_eef_pos.2 float64 0.81 1.06 ⌀	observation.robot0_eef_quat.0 float64 0.93 1 ⌀	observation.robot0_eef_quat.1 float64 -0.35 0.24 ⌀	observation.robot0_eef_quat.2 float64 0.06 0.2 ⌀	observation.robot0_eef_quat.3 float64 -0.04 0.04 ⌀	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 -0.42 0.28 ⌀	observation.robot0_joint_pos.1 float64 0.02 1.13 ⌀	observation.robot0_joint_pos.2 float64 -0.27 0.23 ⌀	observation.robot0_joint_pos.3 float64 -2.83 -1.49 ⌀	observation.robot0_joint_pos.4 float64 -0.55 0.47 ⌀	observation.robot0_joint_pos.5 float64 2.61 3.75 ⌀	observation.robot0_joint_pos.6 float64 -0.17 1.89 ⌀	observation.robot0_joint_vel.0 float64 -0.35 0.28 ⌀	observation.robot0_joint_vel.1 float64 -0.35 0.48 ⌀	observation.robot0_joint_vel.2 float64 -0.3 0.27 ⌀	observation.robot0_joint_vel.3 float64 -0.39 0.42 ⌀	observation.robot0_joint_vel.4 float64 -0.8 0.84 ⌀	observation.robot0_joint_vel.5 float64 -0.27 0.82 ⌀	observation.robot0_joint_vel.6 float64 -0.83 0.86 ⌀	observation.object_state.0 float64 -0.16 0.14 ⌀	observation.object_state.1 float64 -0.15 0.1 ⌀	observation.object_state.2 float64 0.82 0.9 ⌀	observation.object_state.3 float64 -0.03 0.04 ⌀	observation.object_state.4 float64 -0.02 0.05 ⌀	observation.object_state.5 float64 0.03 1 ⌀	observation.object_state.6 float64 -1 1 ⌀	observation.object_state.7 float64 -0.06 0.24 ⌀	observation.object_state.8 float64 -0.15 0.09 ⌀	observation.object_state.9 float64 -0.24 0.01 ⌀	observation.force_torque.0 float64 -25.22 21.1 ⌀	observation.force_torque.1 float64 -17.73 54.7 ⌀	observation.force_torque.2 float64 -6.1 252 ⌀	observation.force_torque.3 float64 -8.04 1.92 ⌀	observation.force_torque.4 float64 -10.23 5.87 ⌀	observation.force_torque.5 float64 -0.66 2.08 ⌀	observation.force_torque_world.0 float64 -15.73 84.9 ⌀	observation.force_torque_world.1 float64 -26.51 23.1 ⌀	observation.force_torque_world.2 float64 -243.87 6.18 ⌀	observation.robot0_tactile_right.0 float64 0 3.76 ⌀	observation.robot0_tactile_right.1 float64 0 4.98 ⌀	observation.robot0_tactile_right.2 float64 0 4.73 ⌀	observation.robot0_tactile_right.3 float64 0 4.48 ⌀	observation.robot0_tactile_right.4 float64 0 8.11 ⌀	observation.robot0_tactile_right.5 float64 0 11.9 ⌀	observation.robot0_tactile_right.6 float64 0 12.6 ⌀	observation.robot0_tactile_right.7 float64 0 9.34 ⌀	observation.robot0_tactile_right.8 float64 0 11.3 ⌀	observation.robot0_tactile_right.9 float64 0 14.8 ⌀	observation.robot0_tactile_right.10 float64 0 15.6 ⌀	observation.robot0_tactile_right.11 float64 0 16.9 ⌀	observation.robot0_tactile_right.12 float64 0 18.4 ⌀	observation.robot0_tactile_right.13 float64 0 19.4 ⌀	observation.robot0_tactile_right.14 float64 0 19.8 ⌀	observation.robot0_tactile_right.15 float64 0 14.1 ⌀	observation.robot0_tactile_right.16 float64 0 14.7 ⌀	observation.robot0_tactile_right.17 float64 0 20.2 ⌀	observation.robot0_tactile_right.18 float64 0 19.1 ⌀	observation.robot0_tactile_right.19 float64 0 18.5 ⌀	observation.robot0_tactile_right.20 float64 0 19.5 ⌀	observation.robot0_tactile_right.21 float64 0 20.7 ⌀	observation.robot0_tactile_right.22 float64 0 21.7 ⌀	observation.robot0_tactile_right.23 float64 0 17.5 ⌀	observation.robot0_tactile_right.24 float64 0 14.9 ⌀	observation.robot0_tactile_right.25 float64 0 20.4 ⌀	observation.robot0_tactile_right.26 float64 0 19.3 ⌀	observation.robot0_tactile_right.27 float64 0 16.8 ⌀	observation.robot0_tactile_right.28 float64 0 17.8 ⌀	observation.robot0_tactile_right.29 float64 0 19 ⌀	observation.robot0_tactile_right.30 float64 0 20.2 ⌀	observation.robot0_tactile_right.31 float64 0 19.2 ⌀	observation.robot0_tactile_right.32 float64 0 13.4 ⌀	observation.robot0_tactile_right.33 float64 0 22 ⌀	observation.robot0_tactile_right.34 float64 0 19.3 ⌀	observation.robot0_tactile_right.35 float64 0 16.8 ⌀	observation.robot0_tactile_right.36 float64 0 17.8 ⌀	observation.robot0_tactile_right.37 float64 0 20.6 ⌀	observation.robot0_tactile_right.38 float64 0 20.6 ⌀	observation.robot0_tactile_right.39 float64 0 19.2 ⌀	observation.robot0_tactile_right.40 float64 0 13.4 ⌀	observation.robot0_tactile_right.41 float64 0 22.1 ⌀	observation.robot0_tactile_right.42 float64 0 19.4 ⌀	observation.robot0_tactile_right.43 float64 0 16.9 ⌀	observation.robot0_tactile_right.44 float64 0 20.6 ⌀	observation.robot0_tactile_right.45 float64 0 24.5 ⌀	observation.robot0_tactile_right.46 float64 0 24.5 ⌀	observation.robot0_tactile_right.47 float64 0 19.6 ⌀	observation.robot0_tactile_right.48 float64 0 15.8 ⌀	observation.robot0_tactile_right.49 float64 0 22.1 ⌀	observation.robot0_tactile_right.50 float64 0 19.6 ⌀	observation.robot0_tactile_right.51 float64 0 20.6 ⌀	observation.robot0_tactile_right.52 float64 0 20.6 ⌀	observation.robot0_tactile_right.53 float64 0 20.6 ⌀	observation.robot0_tactile_right.54 float64 0 20.6 ⌀	observation.robot0_tactile_right.55 float64 0 19.2 ⌀	observation.robot0_tactile_right.56 float64 0 15.8 ⌀	observation.robot0_tactile_right.57 float64 0 19.8 ⌀	observation.robot0_tactile_right.58 float64 0 16.8 ⌀	observation.robot0_tactile_right.59 float64 0 13.9 ⌀	observation.robot0_tactile_right.60 float64 0 14.3 ⌀	observation.robot0_tactile_right.61 float64 0 14.9 ⌀	observation.robot0_tactile_right.62 float64 0 15.6 ⌀	observation.robot0_tactile_right.63 float64 0 14.4 ⌀	observation.robot0_tactile_left.0 float64 0 3.08 ⌀	observation.robot0_tactile_left.1 float64 0 4.68 ⌀	observation.robot0_tactile_left.2 float64 0 5.04 ⌀	observation.robot0_tactile_left.3 float64 0 5.5 ⌀	observation.robot0_tactile_left.4 float64 0 6.05 ⌀	observation.robot0_tactile_left.5 float64 0 6.63 ⌀	observation.robot0_tactile_left.6 float64 0 7.2 ⌀	observation.robot0_tactile_left.7 float64 0 5.38 ⌀	observation.robot0_tactile_left.8 float64 0 3.27 ⌀	observation.robot0_tactile_left.9 float64 0 4.16 ⌀	observation.robot0_tactile_left.10 float64 0 4.24 ⌀	observation.robot0_tactile_left.11 float64 0 4.41 ⌀	observation.robot0_tactile_left.12 float64 0 4.86 ⌀	observation.robot0_tactile_left.13 float64 0 5.16 ⌀	observation.robot0_tactile_left.14 float64 0 5.31 ⌀	observation.robot0_tactile_left.15 float64 0 4.21 ⌀	observation.robot0_tactile_left.16 float64 0 2.3 ⌀	observation.robot0_tactile_left.17 float64 0 2.81 ⌀	observation.robot0_tactile_left.18 float64 0 2.73 ⌀	observation.robot0_tactile_left.19 float64 0 2.92 ⌀	observation.robot0_tactile_left.20 float64 0 3.2 ⌀	observation.robot0_tactile_left.21 float64 0 3.31 ⌀	observation.robot0_tactile_left.22 float64 0 3.37 ⌀	observation.robot0_tactile_left.23 float64 0 2.78 ⌀	observation.robot0_tactile_left.24 float64 0 2.26 ⌀	observation.robot0_tactile_left.25 float64 0 2.63 ⌀	observation.robot0_tactile_left.26 float64 0 2.64 ⌀	observation.robot0_tactile_left.27 float64 0 2.65 ⌀	observation.robot0_tactile_left.28 float64 0 2.66 ⌀	observation.robot0_tactile_left.29 float64 0 2.67 ⌀	observation.robot0_tactile_left.30 float64 0 2.68 ⌀	observation.robot0_tactile_left.31 float64 0 2.28 ⌀	observation.robot0_tactile_left.32 float64 0 2.87 ⌀	observation.robot0_tactile_left.33 float64 0 3.45 ⌀	observation.robot0_tactile_left.34 float64 0 3.16 ⌀	observation.robot0_tactile_left.35 float64 0 2.75 ⌀	observation.robot0_tactile_left.36 float64 0 2.26 ⌀	observation.robot0_tactile_left.37 float64 0 2.27 ⌀	observation.robot0_tactile_left.38 float64 0 2.31 ⌀	observation.robot0_tactile_left.39 float64 0 1.83 ⌀	observation.robot0_tactile_left.40 float64 0 3.69 ⌀	observation.robot0_tactile_left.41 float64 0 4.34 ⌀	observation.robot0_tactile_left.42 float64 0 3.84 ⌀	observation.robot0_tactile_left.43 float64 0 3.54 ⌀	observation.robot0_tactile_left.44 float64 0 3.31 ⌀	observation.robot0_tactile_left.45 float64 0 2.95 ⌀	observation.robot0_tactile_left.46 float64 0 2.96 ⌀	observation.robot0_tactile_left.47 float64 0 2.48 ⌀	observation.robot0_tactile_left.48 float64 0 5.03 ⌀	observation.robot0_tactile_left.49 float64 0 5.75 ⌀	observation.robot0_tactile_left.50 float64 0 5.01 ⌀	observation.robot0_tactile_left.51 float64 0 4.65 ⌀	observation.robot0_tactile_left.52 float64 0 4.4 ⌀	observation.robot0_tactile_left.53 float64 0 4.14 ⌀	observation.robot0_tactile_left.54 float64 0 3.83 ⌀	observation.robot0_tactile_left.55 float64 0 3.1 ⌀	observation.robot0_tactile_left.56 float64 0 4.44 ⌀	observation.robot0_tactile_left.57 float64 0 5.65 ⌀	observation.robot0_tactile_left.58 float64 0 5.08 ⌀	observation.robot0_tactile_left.59 float64 0 4.74 ⌀	observation.robot0_tactile_left.60 float64 0 4.52 ⌀	observation.robot0_tactile_left.61 float64 0 4.39 ⌀	observation.robot0_tactile_left.62 float64 0 4.19 ⌀	observation.robot0_tactile_left.63 float64 0 2.93 ⌀	observation.object_pos.0 float64 -0.16 0.14 ⌀	observation.object_pos.1 float64 -0.15 0.1 ⌀	observation.object_pos.2 float64 0.82 0.9 ⌀	observation.object_quat.0 float64 -0.03 0.04 ⌀	observation.object_quat.1 float64 -0.02 0.05 ⌀	observation.object_quat.2 float64 0.03 1 ⌀	observation.object_quat.3 float64 -1 1 ⌀	observation.joint_positions.0 float64 -0.42 0.28 ⌀	observation.joint_positions.1 float64 0.02 1.13 ⌀	observation.joint_positions.2 float64 -0.27 0.23 ⌀	observation.joint_positions.3 float64 -2.83 -1.49 ⌀	observation.joint_positions.4 float64 -0.55 0.47 ⌀	observation.joint_positions.5 float64 2.61 3.75 ⌀	observation.joint_positions.6 float64 -0.17 1.89 ⌀	observation.joint_positions.7 float64 0.01 0.04 ⌀	observation.joint_positions.8 float64 -0.04 -0.01 ⌀	observation.ee_poses.0 float64 -0.17 0.14 ⌀	observation.ee_poses.1 float64 -0.15 0.12 ⌀	observation.ee_poses.2 float64 0.81 1.06 ⌀	observation.ee_poses.3 float64 0.51 0.91 ⌀	observation.ee_poses.4 float64 0.41 0.85 ⌀	observation.ee_poses.5 float64 0.01 0.13 ⌀	observation.ee_poses.6 float64 0.02 0.16 ⌀	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 1.46k ⌀	frame_index.rgb_exo_front_cam float64 0 1.46k ⌀	frame_index.rgb_bird_eye_cam float64 0 1.46k ⌀
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2,247	0.15	3	-0.108	0.183556	-1	-0.103722	-0.000013	1.018394	0.997797	0.000235	0.066348	0.000019	0.033952	-0.033955	-0.000009	0.17089	-0.000035	-2.627121	-0.000003	2.930886	0.785392	-0.001752	-0.272458	-0.006641	-0.087447	-0.000431	-0.144213	-0.00133	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	0.002408	-0.2082	5.023474	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	-0.000013	0.170349	-0.000051	-2.627293	-0.000004	2.930597	0.785389	0.034067	-0.034072	-0.103745	-0.000021	1.018554	0.705385	0.705709	0.046929	0.046959	0.034067	-0.034072	null	null	null
2,248	0.16	3	-0.1464	0.146845	-1	-0.103835	-0.000079	1.019172	0.997784	0.000185	0.066533	0.000035	0.0345	-0.034513	-0.000044	0.168268	-0.000164	-2.627941	-0.000008	2.929437	0.785355	-0.004847	-0.254123	-0.017393	-0.077869	-0.000427	-0.144817	-0.005694	-0.141037	-0.01295	0.818913	-0	0	0.892224	-0.451593	-0.037202	-0.012872	-0.200259	-0.307796	0.679322	-4.846635	0.017931	-0.069595	0.063841	0.029604	-0.30729	4.893954	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	-0.141037	-0.01295	0.818913	-0	0	0.892224	-0.451593	-0.000055	0.167768	-0.000202	-2.628093	-0.000009	2.929148	0.785342	0.034602	-0.034617	-0.103857	-0.0001	1.019321	0.705419	0.705658	0.047041	0.047096	0.034602	-0.034617	4	4	4
2,249	0.17	3	-0.17712	0.117476	-1	-0.10394	-0.000215	1.019888	0.997775	0.000088	0.066671	0.000065	0.034986	-0.035012	-0.000115	0.165869	-0.00041	-2.62865	-0.00001	2.928003	0.785257	-0.008639	-0.229989	-0.029385	-0.066042	0.000064	-0.142162	-0.012969	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	null	0.053752	-0.335953	4.839245	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	-0.000134	0.165418	-0.000472	-2.628777	-0.000009	2.92772	0.785228	0.035076	-0.035105	-0.10396	-0.000252	1.020023	0.705487	0.705578	0.047107	0.047211	0.035076	-0.035105	null	null	null
2,250	0.18	3	-0.201696	0.093981	-1	-0.104033	-0.000428	1.020532	0.997769	-0.000049	0.066762	0.000112	0.035417	-0.035457	-0.000226	0.163725	-0.000774	-2.629235	-0	2.926609	0.785071	-0.012699	-0.203701	-0.041019	-0.053485	0.001813	-0.13722	-0.022713	-0.141037	-0.01295	0.819141	-0	0	0.892224	-0.451593	-0.037005	-0.012522	-0.201391	-0.329138	0.712861	-4.776103	-0.003519	-0.066241	0.045083	0.070026	-0.328014	4.828578	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	-0.141037	-0.01295	0.819141	-0	0	0.892224	-0.451593	-0.000253	0.163328	-0.00086	-2.629337	0.000005	2.926337	0.785021	0.035497	-0.035541	-0.104049	-0.00048	1.020652	0.705585	0.705472	0.047129	0.047304	0.035497	-0.035541	null	null	null

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PB PR Mirror Pick Place V1

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

Overview


Episodes	10
Total frames	5822
FPS	100
Robot	Panda
Cameras	3 (rgb_bird_eye_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-mirror-pick-place-v1/episode_0

Load with LeRobot

from lerobot.common.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset("imbench/pb-pr-mirror-pick-place-v1")

Features

action — float32, shape=[7]
frame_index.rgb_bird_eye_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_bird_eye_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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