task stringclasses 2
values | demo_id stringlengths 6 9 | timestep int64 0 691 | num_samples int64 238 692 | instruction stringclasses 118
values | layout_id int64 0 9 | style_id int64 0 11 | object_category stringclasses 68
values | object_name float64 | hdf5_path stringclasses 2
values | hdf5_internal_path stringlengths 11 14 | action_0 float64 -1 1 | action_1 float64 -1 1 | action_2 float64 -1 1 | action_3 float64 -1 1 | action_4 float64 -1 1 | action_5 float64 -1 1 | action_6 float64 -1 1 | action_7 float64 0 0 | action_8 float64 0 0 | action_9 float64 0 0 | action_10 float64 0 0 | action_11 float64 -1 -1 | gripper_left_qpos float64 -0.01 0.05 | gripper_right_qpos float64 -0.05 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
PnPCabToCounter | demo_0 | 0 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.045043 | -0.034186 | -0.006145 | -0.046788 | -0.013394 | 0.026518 | -1 | 0 | 0 | 0 | 0 | -1 | 0.020553 | -0.02053 |
PnPCabToCounter | demo_0 | 1 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | -0.026849 | 0.062079 | 0.029506 | -0.008583 | 0.003245 | 0.020242 | -1 | 0 | 0 | 0 | 0 | -1 | 0.021396 | -0.021374 |
PnPCabToCounter | demo_0 | 2 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | -0.048792 | 0.114152 | 0.058364 | -0.017354 | 0.00546 | 0.037379 | -1 | 0 | 0 | 0 | 0 | -1 | 0.023502 | -0.023431 |
PnPCabToCounter | demo_0 | 3 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | -0.06103 | 0.150254 | 0.081673 | -0.028316 | 0.006601 | 0.052149 | -1 | 0 | 0 | 0 | 0 | -1 | 0.026436 | -0.026338 |
PnPCabToCounter | demo_0 | 4 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | -0.06772 | 0.175005 | 0.098659 | -0.037474 | 0.007711 | 0.063472 | -1 | 0 | 0 | 0 | 0 | -1 | 0.029835 | -0.029726 |
PnPCabToCounter | demo_0 | 5 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | -0.071092 | 0.191428 | 0.110772 | -0.044143 | 0.008799 | 0.071805 | -1 | 0 | 0 | 0 | 0 | -1 | 0.033496 | -0.033382 |
PnPCabToCounter | demo_0 | 6 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | -0.110293 | 0.264502 | 0.14497 | -0.063567 | 0.034197 | 0.074116 | -1 | 0 | 0 | 0 | 0 | -1 | 0.035924 | -0.035819 |
PnPCabToCounter | demo_0 | 7 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.010512 | 0.228346 | 0.204617 | -0.105553 | -0.065458 | 0.033932 | -1 | 0 | 0 | 0 | 0 | -1 | 0.037299 | -0.037192 |
PnPCabToCounter | demo_0 | 8 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | -0.03171 | 0.123085 | 0.058841 | -0.117081 | 0.000997 | 0.08518 | -1 | 0 | 0 | 0 | 0 | -1 | 0.038044 | -0.037988 |
PnPCabToCounter | demo_0 | 9 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | -0.021956 | 0.071933 | 0.000024 | 0.001256 | 0.030234 | 0.049752 | -1 | 0 | 0 | 0 | 0 | -1 | 0.038454 | -0.038443 |
PnPCabToCounter | demo_0 | 10 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | -0.01357 | 0.00531 | -0.026572 | 0.045841 | 0.022604 | 0.072199 | -1 | 0 | 0 | 0 | 0 | -1 | 0.03868 | -0.038703 |
PnPCabToCounter | demo_0 | 11 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.064336 | -0.012912 | -0.007603 | -0.006562 | 0.031433 | 0.006927 | -1 | 0 | 0 | 0 | 0 | -1 | 0.038797 | -0.038857 |
PnPCabToCounter | demo_0 | 12 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.020738 | -0.01963 | -0.013337 | 0.010785 | -0.023355 | -0.002393 | -1 | 0 | 0 | 0 | 0 | -1 | 0.038853 | -0.038955 |
PnPCabToCounter | demo_0 | 13 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.004239 | 0.015301 | 0.219363 | -0.028108 | 0.034239 | -0.105543 | -1 | 0 | 0 | 0 | 0 | -1 | 0.038904 | -0.039004 |
PnPCabToCounter | demo_0 | 14 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | -0.022956 | 0.003317 | 0.399612 | -0.042005 | -0.000948 | -0.100263 | -1 | 0 | 0 | 0 | 0 | -1 | 0.038949 | -0.039048 |
PnPCabToCounter | demo_0 | 15 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.061787 | -0.038534 | 0.752556 | -0.084056 | 0.0328 | -0.154188 | -1 | 0 | 0 | 0 | 0 | -1 | 0.038994 | -0.03909 |
PnPCabToCounter | demo_0 | 16 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.003963 | -0.00441 | 0.73443 | 0.108817 | -0.215365 | -0.061619 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039034 | -0.039131 |
PnPCabToCounter | demo_0 | 17 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.086246 | 0.051577 | 0.619174 | 0.04008 | -0.069473 | -0.209373 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039077 | -0.039168 |
PnPCabToCounter | demo_0 | 18 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | -0.069551 | 0.055504 | 0.557715 | -0.044046 | -0.021493 | -0.265397 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039114 | -0.039206 |
PnPCabToCounter | demo_0 | 19 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.163866 | 0.045495 | 0.498732 | -0.022954 | 0.026538 | -0.216156 | -1 | 0 | 0 | 0 | 0 | -1 | 0.03915 | -0.039242 |
PnPCabToCounter | demo_0 | 20 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.029185 | 0.035982 | 0.476514 | 0.020223 | -0.047128 | -0.200349 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039186 | -0.039275 |
PnPCabToCounter | demo_0 | 21 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.097392 | -0.096069 | 0.551559 | 0.095523 | -0.003395 | -0.266954 | -1 | 0 | 0 | 0 | 0 | -1 | 0.03922 | -0.039307 |
PnPCabToCounter | demo_0 | 22 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.016765 | 0.026849 | 0.616458 | -0.083404 | -0.051243 | -0.309647 | -1 | 0 | 0 | 0 | 0 | -1 | 0.03925 | -0.039341 |
PnPCabToCounter | demo_0 | 23 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.022698 | 0.040547 | 0.612287 | -0.036957 | 0.026956 | -0.234987 | -1 | 0 | 0 | 0 | 0 | -1 | 0.03928 | -0.039371 |
PnPCabToCounter | demo_0 | 24 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.307437 | -0.023176 | 0.550958 | 0.025979 | 0.101484 | -0.258748 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039312 | -0.039398 |
PnPCabToCounter | demo_0 | 25 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.201666 | 0.061026 | 0.614002 | -0.033662 | -0.00456 | -0.258028 | -1 | 0 | 0 | 0 | 0 | -1 | 0.03934 | -0.039425 |
PnPCabToCounter | demo_0 | 26 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.221608 | 0.036888 | 0.504067 | 0.046047 | -0.050469 | -0.253886 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039367 | -0.039451 |
PnPCabToCounter | demo_0 | 27 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.411649 | 0.035517 | 0.474144 | -0.026376 | 0.015164 | -0.187096 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039393 | -0.039476 |
PnPCabToCounter | demo_0 | 28 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.540098 | -0.001149 | 0.535525 | -0.106644 | -0.014087 | -0.168462 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039418 | -0.039499 |
PnPCabToCounter | demo_0 | 29 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.450299 | -0.078763 | 0.529424 | 0.028682 | -0.073983 | -0.091588 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039441 | -0.039523 |
PnPCabToCounter | demo_0 | 30 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.31082 | -0.279654 | 0.407508 | -0.050941 | -0.097895 | -0.102095 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039463 | -0.039545 |
PnPCabToCounter | demo_0 | 31 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.280159 | -0.237762 | 0.571232 | -0.031578 | -0.097578 | -0.165388 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039479 | -0.039572 |
PnPCabToCounter | demo_0 | 32 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.34647 | -0.225925 | 0.585326 | 0.012464 | 0.056477 | -0.192236 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039496 | -0.039595 |
PnPCabToCounter | demo_0 | 33 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.441581 | -0.192104 | 0.465799 | 0.130165 | -0.050132 | -0.223812 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039515 | -0.039615 |
PnPCabToCounter | demo_0 | 34 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.330896 | -0.224897 | 0.46099 | 0.000629 | 0.012809 | -0.120562 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039536 | -0.039632 |
PnPCabToCounter | demo_0 | 35 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.394178 | -0.284419 | 0.314002 | -0.057088 | -0.101519 | -0.163879 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039553 | -0.039651 |
PnPCabToCounter | demo_0 | 36 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.462136 | -0.197248 | 0.279192 | -0.090184 | -0.053507 | -0.178979 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039569 | -0.039669 |
PnPCabToCounter | demo_0 | 37 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.478166 | -0.287611 | 0.267359 | -0.070399 | -0.018238 | -0.216657 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039586 | -0.039685 |
PnPCabToCounter | demo_0 | 38 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.403606 | -0.149944 | 0.101943 | -0.039631 | 0.10886 | -0.176811 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039601 | -0.039701 |
PnPCabToCounter | demo_0 | 39 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.680532 | -0.302461 | 0.22739 | -0.051981 | 0.035846 | -0.233063 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039618 | -0.039714 |
PnPCabToCounter | demo_0 | 40 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.720059 | -0.182673 | 0.291069 | 0.048066 | -0.001821 | -0.261603 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039631 | -0.03973 |
PnPCabToCounter | demo_0 | 41 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.803799 | -0.187842 | 0.388071 | 0.088024 | -0.061266 | -0.269234 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039646 | -0.039742 |
PnPCabToCounter | demo_0 | 42 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.662353 | -0.274939 | 0.31272 | 0.124054 | -0.046716 | -0.236851 | -1 | 0 | 0 | 0 | 0 | -1 | 0.03966 | -0.039755 |
PnPCabToCounter | demo_0 | 43 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.625763 | -0.380476 | 0.191787 | 0.065579 | 0.003875 | -0.177627 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039671 | -0.039769 |
PnPCabToCounter | demo_0 | 44 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.633678 | -0.442545 | 0.105735 | 0.059669 | 0.032067 | -0.212866 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039681 | -0.039783 |
PnPCabToCounter | demo_0 | 45 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.65376 | -0.288484 | 0.12717 | 0.088258 | -0.044476 | -0.131756 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039691 | -0.039796 |
PnPCabToCounter | demo_0 | 46 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.690073 | -0.321581 | 0.191368 | -0.012198 | -0.009318 | -0.086493 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039707 | -0.039803 |
PnPCabToCounter | demo_0 | 47 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.702547 | -0.233736 | 0.36101 | 0.013724 | 0.062199 | -0.19264 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039718 | -0.039812 |
PnPCabToCounter | demo_0 | 48 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.74202 | -0.242642 | 0.45812 | 0.120102 | 0.032615 | -0.217613 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039729 | -0.039822 |
PnPCabToCounter | demo_0 | 49 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.558822 | -0.08753 | 0.204665 | 0.014206 | 0.009855 | -0.255151 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039742 | -0.039828 |
PnPCabToCounter | demo_0 | 50 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.403326 | 0.006057 | 0.168286 | 0.104118 | -0.017557 | -0.095524 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039752 | -0.039836 |
PnPCabToCounter | demo_0 | 51 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.598446 | -0.004721 | 0.141752 | 0.044696 | 0.065225 | -0.19184 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039767 | -0.039839 |
PnPCabToCounter | demo_0 | 52 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.426034 | -0.33469 | 0.012824 | -0.047857 | -0.035585 | -0.094036 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039778 | -0.039846 |
PnPCabToCounter | demo_0 | 53 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.50006 | -0.249123 | 0.11434 | 0.067236 | -0.031675 | -0.162365 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039785 | -0.039855 |
PnPCabToCounter | demo_0 | 54 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.531089 | -0.365027 | 0.061386 | 0.116076 | -0.034414 | -0.114472 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039795 | -0.03986 |
PnPCabToCounter | demo_0 | 55 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.436871 | -0.294766 | -0.04636 | -0.004671 | -0.043379 | -0.173307 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039805 | -0.039864 |
PnPCabToCounter | demo_0 | 56 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.602974 | -0.171885 | -0.332554 | -0.066125 | -0.030514 | -0.082314 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039812 | -0.039872 |
PnPCabToCounter | demo_0 | 57 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.579345 | -0.263816 | -0.092976 | -0.050718 | -0.016093 | -0.130496 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039825 | -0.039872 |
PnPCabToCounter | demo_0 | 58 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.672316 | 0.033016 | 0.062835 | -0.053736 | 0.08967 | -0.153513 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039834 | -0.039877 |
PnPCabToCounter | demo_0 | 59 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.533923 | 0.103984 | -0.06475 | -0.062736 | -0.09655 | -0.104524 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039845 | -0.039878 |
PnPCabToCounter | demo_0 | 60 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.516728 | 0.055087 | -0.03517 | -0.060201 | -0.059428 | -0.081736 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039856 | -0.039878 |
PnPCabToCounter | demo_0 | 61 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.397198 | 0.146694 | -0.0747 | 0.010889 | -0.053085 | -0.008671 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039865 | -0.039881 |
PnPCabToCounter | demo_0 | 62 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.156348 | 0.063331 | -0.106349 | 0.091711 | -0.074148 | -0.030037 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039875 | -0.039882 |
PnPCabToCounter | demo_0 | 63 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.160744 | 0.031952 | -0.157298 | -0.022032 | -0.122416 | -0.062947 | -1 | 0 | 0 | 0 | 0 | -1 | 0.03988 | -0.039888 |
PnPCabToCounter | demo_0 | 64 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.305294 | 0.025628 | -0.160486 | 0.067213 | 0.10598 | -0.031428 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039883 | -0.039894 |
PnPCabToCounter | demo_0 | 65 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.274298 | -0.122838 | -0.180847 | 0.011413 | 0.026687 | -0.138453 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039891 | -0.039896 |
PnPCabToCounter | demo_0 | 66 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.452885 | 0.04325 | -0.087514 | -0.114876 | 0.10086 | -0.031672 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039894 | -0.039902 |
PnPCabToCounter | demo_0 | 67 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.237436 | -0.158359 | -0.185304 | -0.096981 | 0.045605 | 0.052887 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039902 | -0.039903 |
PnPCabToCounter | demo_0 | 68 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.112192 | -0.183685 | -0.246839 | -0.073904 | -0.034246 | 0.060944 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039906 | -0.039908 |
PnPCabToCounter | demo_0 | 69 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.060342 | -0.035031 | -0.179921 | -0.157946 | -0.13259 | 0.068569 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039908 | -0.039913 |
PnPCabToCounter | demo_0 | 70 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | -0.021849 | -0.048971 | -0.226198 | -0.004637 | -0.086854 | 0.056961 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039911 | -0.039918 |
PnPCabToCounter | demo_0 | 71 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | -0.04129 | -0.077511 | -0.15761 | -0.066013 | 0.007739 | -0.074496 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039914 | -0.039923 |
PnPCabToCounter | demo_0 | 72 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | -0.048527 | -0.065504 | -0.219342 | -0.055468 | -0.048513 | -0.075819 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039912 | -0.039932 |
PnPCabToCounter | demo_0 | 73 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.107077 | -0.092849 | -0.250252 | -0.019269 | -0.006629 | 0.07694 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039914 | -0.039936 |
PnPCabToCounter | demo_0 | 74 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.0409 | -0.185128 | -0.227687 | -0.006072 | -0.049686 | 0.082148 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039919 | -0.039937 |
PnPCabToCounter | demo_0 | 75 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | -0.045221 | -0.215871 | -0.490596 | -0.095678 | -0.045295 | -0.056338 | -1 | 0 | 0 | 0 | 0 | -1 | 0.03992 | -0.039943 |
PnPCabToCounter | demo_0 | 76 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | -0.110272 | -0.274764 | -0.642967 | -0.057209 | -0.064723 | 0.014667 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039916 | -0.039953 |
PnPCabToCounter | demo_0 | 77 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.033988 | -0.112939 | -0.477381 | -0.1324 | -0.126868 | 0.016546 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039917 | -0.039958 |
PnPCabToCounter | demo_0 | 78 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | -0.049559 | -0.198523 | -0.390767 | -0.112287 | -0.099125 | -0.144169 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039919 | -0.039961 |
PnPCabToCounter | demo_0 | 79 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.018247 | -0.116096 | -0.288191 | -0.057185 | -0.14494 | -0.055086 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039915 | -0.03997 |
PnPCabToCounter | demo_0 | 80 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.122808 | -0.075206 | -0.218075 | -0.031431 | -0.118209 | -0.004325 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039917 | -0.039973 |
PnPCabToCounter | demo_0 | 81 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.166385 | -0.09123 | -0.211103 | -0.104329 | -0.05664 | -0.062552 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039919 | -0.039976 |
PnPCabToCounter | demo_0 | 82 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.051008 | -0.049461 | -0.216567 | 0.015588 | -0.01247 | -0.05738 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039916 | -0.039983 |
PnPCabToCounter | demo_0 | 83 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.043978 | -0.001927 | -0.249186 | 0.030985 | -0.046924 | -0.044212 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039915 | -0.039988 |
PnPCabToCounter | demo_0 | 84 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.080973 | -0.008668 | -0.297006 | -0.038562 | -0.152758 | 0.020988 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039915 | -0.039993 |
PnPCabToCounter | demo_0 | 85 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.097443 | -0.083959 | -0.341495 | -0.015622 | -0.21982 | 0.008812 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039915 | -0.039997 |
PnPCabToCounter | demo_0 | 86 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | -0.033042 | -0.10561 | -0.463493 | 0.058522 | -0.262761 | -0.089636 | -1 | 0 | 0 | 0 | 0 | -1 | 0.039914 | -0.040001 |
PnPCabToCounter | demo_0 | 87 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | -0.085007 | 0.012399 | -0.387633 | -0.057 | -0.17127 | -0.055257 | 1 | 0 | 0 | 0 | 0 | -1 | 0.039912 | -0.040003 |
PnPCabToCounter | demo_0 | 88 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.100294 | -0.093602 | -0.538738 | 0.048625 | -0.167204 | 0.091994 | 1 | 0 | 0 | 0 | 0 | -1 | 0.038864 | -0.039014 |
PnPCabToCounter | demo_0 | 89 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | -0.040894 | 0.002026 | -0.487115 | -0.012576 | -0.086816 | 0.049867 | 1 | 0 | 0 | 0 | 0 | -1 | 0.037738 | -0.036763 |
PnPCabToCounter | demo_0 | 90 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | -0.076581 | 0.187592 | -0.500361 | -0.020367 | -0.238625 | 0.016465 | 1 | 0 | 0 | 0 | 0 | -1 | 0.037684 | -0.033811 |
PnPCabToCounter | demo_0 | 91 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | -0.034274 | 0.010518 | -0.558537 | 0.054809 | -0.168373 | 0.024075 | 1 | 0 | 0 | 0 | 0 | -1 | 0.037465 | -0.030346 |
PnPCabToCounter | demo_0 | 92 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.041698 | -0.043974 | -0.657039 | 0.005622 | -0.14023 | -0.037588 | 1 | 0 | 0 | 0 | 0 | -1 | 0.037339 | -0.028445 |
PnPCabToCounter | demo_0 | 93 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.054508 | -0.068288 | -0.622125 | -0.053333 | -0.086505 | -0.053267 | 1 | 0 | 0 | 0 | 0 | -1 | 0.037241 | -0.02837 |
PnPCabToCounter | demo_0 | 94 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | 0.037012 | -0.151267 | -0.475406 | -0.05839 | -0.143221 | 0.06444 | 1 | 0 | 0 | 0 | 0 | -1 | 0.037121 | -0.028376 |
PnPCabToCounter | demo_0 | 95 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | -0.083035 | 0.072384 | 0.049054 | 0.013519 | -0.220746 | 0.04194 | 1 | 0 | 0 | 0 | 0 | -1 | 0.037104 | -0.028341 |
PnPCabToCounter | demo_0 | 96 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | -0.240635 | 0.015566 | 0.130083 | 0.057321 | -0.282912 | -0.114324 | 1 | 0 | 0 | 0 | 0 | -1 | 0.037169 | -0.028336 |
PnPCabToCounter | demo_0 | 97 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | -0.276574 | -0.017215 | 0.070968 | 0.215265 | -0.23927 | -0.029472 | 1 | 0 | 0 | 0 | 0 | -1 | 0.037129 | -0.028335 |
PnPCabToCounter | demo_0 | 98 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | -0.635276 | -0.072898 | 0.080654 | 0.069804 | -0.237469 | -0.109354 | 1 | 0 | 0 | 0 | 0 | -1 | 0.037084 | -0.028329 |
PnPCabToCounter | demo_0 | 99 | 340 | pick the lime from the cabinet and place it on the counter | 5 | 5 | lime | null | raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5 | data/demo_0 | -0.53664 | -0.037505 | 0.294317 | 0.024838 | -0.2241 | -0.047722 | 1 | 0 | 0 | 0 | 0 | -1 | 0.037046 | -0.028337 |
End of preview. Expand in Data Studio
RoboCasa PnP MimicGen
This dataset contains two RoboCasa MimicGen pick-and-place datasets in the original HDF5 format:
PnPCabToCounterPnPCounterToSink
The raw HDF5 files are stored under raw/.
Tables
metadata.csv: one row per demonstration.actions.csv: one row per timestep withaction_0throughaction_11, plus timestep-level gripper joint positions.subtasks.csv: one row per demonstration with the computed pick / place split boundary.
Subtask Split Table
subtasks.csv adds a separate viewer table for the pick / place segmentation used for downstream conversion.
Main columns:
task
demo_id
instruction
pick_start_idx
pick_end_idx
pick_num_samples
pick_instruction
place_start_idx
place_end_idx
place_num_samples
place_instruction
grasp_idx
release_idx
The current split heuristic uses:
action_6sign changes for grasp / release candidates- target object
objfromep_meta.object_cfgs - RoboCasa
object-stateblock layout:obj_pos (3)obj_quat (4)obj_to_eef_pos (3)obj_to_eef_quat (4)
pick_end_idxis selected after grasp once the object follows the end-effector and has been liftedplace_end_idxis set to the final timestep of the episode
Action Columns
The actions.csv table uses the original actions vector from the HDF5 files.
action_0: normalized relative end-effector x translation
action_1: normalized relative end-effector y translation
action_2: normalized relative end-effector z translation
action_3: normalized relative end-effector roll / axis-angle x rotation
action_4: normalized relative end-effector pitch / axis-angle y rotation
action_5: normalized relative end-effector yaw / axis-angle z rotation
action_6: gripper command
action_7: mobile base x command
action_8: mobile base y command
action_9: mobile base yaw command
action_10: mobile base / controller mode flag
action_11: arm / controller mode flag
For these two PnP datasets, action_7 through action_10 are always 0.0, and action_11 is always -1.0.
The active motion commands are therefore action_0 through action_6.
Gripper Joint Columns
The HDF5 files also contain continuous gripper joint positions under obs/robot0_gripper_qpos.
Those values are exposed in the viewer tables as:
actions.csv:
gripper_left_qpos
gripper_right_qpos
metadata.csv:
gripper_left_qpos_start
gripper_left_qpos_end
gripper_left_qpos_min
gripper_left_qpos_max
gripper_right_qpos_start
gripper_right_qpos_end
gripper_right_qpos_min
gripper_right_qpos_max
These are the raw left / right finger joint positions from the dataset, not a collapsed single opening scalar.
metadata.csv links each demonstration to the corresponding HDF5 file and internal HDF5 group via:
hdf5_pathhdf5_internal_path
Raw Files
raw/PnPCabToCounter/demo_gentex_im128_randcams.hdf5
raw/PnPCounterToSink/demo_gentex_im128_randcams.hdf5
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