Datasets:

imbench
/

pb-puzzle-shape-stack-v1

license: apache-2.0
pretty_name: PB Puzzle Shape Stack V1
tags:
  - lerobot
  - robotics
  - imbench
task_categories:
  - robotics
size_categories:
  - n<1K

PB Puzzle Shape Stack V1

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

Overview


Episodes	10
Total frames	27911
FPS	100
Robot	Panda
Cameras	2 (rgb_ego_cam, rgb_gripper_cam)

Visualize

Browse episodes interactively in the LeRobot Visualizer:

→ https://lerobot-visualize-dataset.hf.space/imbench/pb-puzzle-shape-stack-v1/episode_0

Load with LeRobot

from lerobot.common.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset("imbench/pb-puzzle-shape-stack-v1")

Features

action — float32, shape=[7]
frame_index.rgb_ego_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=[31]
observation.rgb_ego_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.