imbench/pb-pr-recover-peg-insert-v1

PB PR Recover Peg Insert V1

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

Overview

Episodes	10
Total frames	20011
FPS	100
Robot	Panda
Cameras	4 (rgb_exo_bird_cam, rgb_exo_front_cam, rgb_exo_right_cam, rgb_gripper_cam)

Visualize

Browse episodes interactively in the LeRobot Visualizer:

→ https://lerobot-visualize-dataset.hf.space/imbench/pb-pr-recover-peg-insert-v1/episode_0

Load with LeRobot

from lerobot.common.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset("imbench/pb-pr-recover-peg-insert-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_exo_right_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_exo_right_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.