robomimic_mh

  • Description:

The Robomimic mixed human datasets were collected by several mixed-ability operators using the RoboTurk platform. Each dataset consists of 200 demonstrations.

Each task has two versions: one with low dimensional observations (low_dim), and one with images (image).

The datasets follow the RLDS format to represent steps and episodes.

Split Examples
'train' 300 
@inproceedings{robomimic2021,
  title={What Matters in Learning from Offline Human Demonstrations for Robot Manipulation},
  author={Ajay Mandlekar and Danfei Xu and Josiah Wong and Soroush Nasiriany
          and Chen Wang and Rohun Kulkarni and Li Fei-Fei and Silvio Savarese
          and Yuke Zhu and Roberto Mart\'{i}n-Mart\'{i}n},
  booktitle={Conference on Robot Learning},
  year={2021}
}

robomimic_mh/lift_mh_image (default config)

  • Download size: 2.50 GiB

  • Dataset size: 363.18 MiB

  • Auto-cached (documentation): No

  • Feature structure:

FeaturesDict({
    '20_percent': bool,
    '20_percent_train': bool,
    '20_percent_valid': bool,
    '50_percent': bool,
    '50_percent_train': bool,
    '50_percent_valid': bool,
    'better': bool,
    'better_operator_1': bool,
    'better_operator_1_train': bool,
    'better_operator_1_valid': bool,
    'better_operator_2': bool,
    'better_operator_2_train': bool,
    'better_operator_2_valid': bool,
    'better_train': bool,
    'better_valid': bool,
    'episode_id': string,
    'horizon': int32,
    'okay': bool,
    'okay_better': bool,
    'okay_better_train': bool,
    'okay_better_valid': bool,
    'okay_operator_1': bool,
    'okay_operator_1_train': bool,
    'okay_operator_1_valid': bool,
    'okay_operator_2': bool,
    'okay_operator_2_train': bool,
    'okay_operator_2_valid': bool,
    'okay_train': bool,
    'okay_valid': bool,
    'steps': Dataset({
        'action': Tensor(shape=(7,), dtype=float64),
        'discount': int32,
        'is_first': bool,
        'is_last': bool,
        'is_terminal': bool,
        'observation': FeaturesDict({
            'agentview_image': Image(shape=(84, 84, 3), dtype=uint8),
            'object': Tensor(shape=(10,), dtype=float64),
            'robot0_eef_pos': Tensor(shape=(3,), dtype=float64, description=End-effector position),
            'robot0_eef_quat': Tensor(shape=(4,), dtype=float64, description=End-effector orientation),
            'robot0_eef_vel_ang': Tensor(shape=(3,), dtype=float64, description=End-effector angular velocity),
            'robot0_eef_vel_lin': Tensor(shape=(3,), dtype=float64, description=End-effector cartesian velocity),
            'robot0_eye_in_hand_image': Image(shape=(84, 84, 3), dtype=uint8),
            'robot0_gripper_qpos': Tensor(shape=(2,), dtype=float64, description=Gripper position),
            'robot0_gripper_qvel': Tensor(shape=(2,), dtype=float64, description=Gripper velocity),
            'robot0_joint_pos': Tensor(shape=(7,), dtype=float64, description=7DOF joint positions),
            'robot0_joint_pos_cos': Tensor(shape=(7,), dtype=float64),
            'robot0_joint_pos_sin': Tensor(shape=(7,), dtype=float64),
            'robot0_joint_vel': Tensor(shape=(7,), dtype=float64, description=7DOF joint velocities),
        }),
        'reward': float64,
        'states': Tensor(shape=(32,), dtype=float64),
    }),
    'train': bool,
    'valid': bool,
    'worse': bool,
    'worse_better': bool,
    'worse_better_train': bool,
    'worse_better_valid': bool,
    'worse_okay': bool,
    'worse_okay_train': bool,
    'worse_okay_valid': bool,
    'worse_operator_1': bool,
    'worse_operator_1_train': bool,
    'worse_operator_1_valid': bool,
    'worse_operator_2': bool,
    'worse_operator_2_train': bool,
    'worse_operator_2_valid': bool,
    'worse_train': bool,
    'worse_valid': bool,
})
  • Feature documentation:
Feature Class Shape Dtype Description
FeaturesDict
20_percent Tensor bool
20_percent_train Tensor bool
20_percent_valid Tensor bool
50_percent Tensor bool
50_percent_train Tensor bool
50_percent_valid Tensor bool
better Tensor bool
better_operator_1 Tensor bool
better_operator_1_train Tensor bool
better_operator_1_valid Tensor bool
better_operator_2 Tensor bool
better_operator_2_train Tensor bool
better_operator_2_valid Tensor bool
better_train Tensor bool
better_valid Tensor bool
episode_id Tensor string
horizon Tensor int32
okay Tensor bool
okay_better Tensor bool
okay_better_train Tensor bool
okay_better_valid Tensor bool
okay_operator_1 Tensor bool
okay_operator_1_train Tensor bool
okay_operator_1_valid Tensor bool
okay_operator_2 Tensor bool
okay_operator_2_train Tensor bool
okay_operator_2_valid Tensor bool
okay_train Tensor bool
okay_valid Tensor bool
steps Dataset
steps/action Tensor (7,) float64
steps/discount Tensor int32
steps/is_first Tensor bool
steps/is_last Tensor bool
steps/is_terminal Tensor bool
steps/observation FeaturesDict
steps/observation/agentview_image Image (84, 84, 3) uint8
steps/observation/object Tensor (10,) float64
steps/observation/robot0_eef_pos Tensor (3,) float64 End-effector position
steps/observation/robot0_eef_quat Tensor (4,) float64 End-effector orientation
steps/observation/robot0_eef_vel_ang Tensor (3,) float64 End-effector angular velocity
steps/observation/robot0_eef_vel_lin Tensor (3,) float64 End-effector cartesian velocity
steps/observation/robot0_eye_in_hand_image Image (84, 84, 3) uint8
steps/observation/robot0_gripper_qpos Tensor (2,) float64 Gripper position
steps/observation/robot0_gripper_qvel Tensor (2,) float64 Gripper velocity
steps/observation/robot0_joint_pos Tensor (7,) float64 7DOF joint positions
steps/observation/robot0_joint_pos_cos Tensor (7,) float64
steps/observation/robot0_joint_pos_sin Tensor (7,) float64
steps/observation/robot0_joint_vel Tensor (7,) float64 7DOF joint velocities
steps/reward Tensor float64
steps/states Tensor (32,) float64
train Tensor bool
valid Tensor bool
worse Tensor bool
worse_better Tensor bool
worse_better_train Tensor bool
worse_better_valid Tensor bool
worse_okay Tensor bool
worse_okay_train Tensor bool
worse_okay_valid Tensor bool
worse_operator_1 Tensor bool
worse_operator_1_train Tensor bool
worse_operator_1_valid Tensor bool
worse_operator_2 Tensor bool
worse_operator_2_train Tensor bool
worse_operator_2_valid Tensor bool
worse_train Tensor bool
worse_valid Tensor bool

robomimic_mh/lift_mh_low_dim

  • Download size: 45.73 MiB

  • Dataset size: 27.26 MiB

  • Auto-cached (documentation): Yes

  • Feature structure:

FeaturesDict({
    '20_percent': bool,
    '20_percent_train': bool,
    '20_percent_valid': bool,
    '50_percent': bool,
    '50_percent_train': bool,
    '50_percent_valid': bool,
    'better': bool,
    'better_operator_1': bool,
    'better_operator_1_train': bool,
    'better_operator_1_valid': bool,
    'better_operator_2': bool,
    'better_operator_2_train': bool,
    'better_operator_2_valid': bool,
    'better_train': bool,
    'better_valid': bool,
    'episode_id': string,
    'horizon': int32,
    'okay': bool,
    'okay_better': bool,
    'okay_better_train': bool,
    'okay_better_valid': bool,
    'okay_operator_1': bool,
    'okay_operator_1_train': bool,
    'okay_operator_1_valid': bool,
    'okay_operator_2': bool,
    'okay_operator_2_train': bool,
    'okay_operator_2_valid': bool,
    'okay_train': bool,
    'okay_valid': bool,
    'steps': Dataset({
        'action': Tensor(shape=(7,), dtype=float64),
        'discount': int32,
        'is_first': bool,
        'is_last': bool,
        'is_terminal': bool,
        'observation': FeaturesDict({
            'object': Tensor(shape=(10,), dtype=float64),
            'robot0_eef_pos': Tensor(shape=(3,), dtype=float64, description=End-effector position),
            'robot0_eef_quat': Tensor(shape=(4,), dtype=float64, description=End-effector orientation),
            'robot0_eef_vel_ang': Tensor(shape=(3,), dtype=float64, description=End-effector angular velocity),
            'robot0_eef_vel_lin': Tensor(shape=(3,), dtype=float64, description=End-effector cartesian velocity),
            'robot0_gripper_qpos': Tensor(shape=(2,), dtype=float64, description=Gripper position),
            'robot0_gripper_qvel': Tensor(shape=(2,), dtype=float64, description=Gripper velocity),
            'robot0_joint_pos': Tensor(shape=(7,), dtype=float64, description=7DOF joint positions),
            'robot0_joint_pos_cos': Tensor(shape=(7,), dtype=float64),
            'robot0_joint_pos_sin': Tensor(shape=(7,), dtype=float64),
            'robot0_joint_vel': Tensor(shape=(7,), dtype=float64, description=7DOF joint velocities),
        }),
        'reward': float64,
        'states': Tensor(shape=(32,), dtype=float64),
    }),
    'train': bool,
    'valid': bool,
    'worse': bool,
    'worse_better': bool,
    'worse_better_train': bool,
    'worse_better_valid': bool,
    'worse_okay': bool,
    'worse_okay_train': bool,
    'worse_okay_valid': bool,
    'worse_operator_1': bool,
    'worse_operator_1_train': bool,
    'worse_operator_1_valid': bool,
    'worse_operator_2': bool,
    'worse_operator_2_train': bool,
    'worse_operator_2_valid': bool,
    'worse_train': bool,
    'worse_valid': bool,
})
  • Feature documentation:
Feature Class Shape Dtype Description
FeaturesDict
20_percent Tensor bool
20_percent_train Tensor bool
20_percent_valid Tensor bool
50_percent Tensor bool
50_percent_train Tensor bool
50_percent_valid Tensor bool
better Tensor bool
better_operator_1 Tensor bool
better_operator_1_train Tensor bool
better_operator_1_valid Tensor bool
better_operator_2 Tensor bool
better_operator_2_train Tensor bool
better_operator_2_valid Tensor bool
better_train Tensor bool
better_valid Tensor bool
episode_id Tensor string
horizon Tensor int32
okay Tensor bool
okay_better Tensor bool
okay_better_train Tensor bool
okay_better_valid Tensor bool
okay_operator_1 Tensor bool
okay_operator_1_train Tensor bool
okay_operator_1_valid Tensor bool
okay_operator_2 Tensor bool
okay_operator_2_train Tensor bool
okay_operator_2_valid Tensor bool
okay_train Tensor bool
okay_valid Tensor bool
steps Dataset
steps/action Tensor (7,) float64
steps/discount Tensor int32
steps/is_first Tensor bool
steps/is_last Tensor bool
steps/is_terminal Tensor bool
steps/observation FeaturesDict
steps/observation/object Tensor (10,) float64
steps/observation/robot0_eef_pos Tensor (3,) float64 End-effector position
steps/observation/robot0_eef_quat Tensor (4,) float64 End-effector orientation
steps/observation/robot0_eef_vel_ang Tensor (3,) float64 End-effector angular velocity
steps/observation/robot0_eef_vel_lin Tensor (3,) float64 End-effector cartesian velocity
steps/observation/robot0_gripper_qpos Tensor (2,) float64 Gripper position
steps/observation/robot0_gripper_qvel Tensor (2,) float64 Gripper velocity
steps/observation/robot0_joint_pos Tensor (7,) float64 7DOF joint positions
steps/observation/robot0_joint_pos_cos Tensor (7,) float64
steps/observation/robot0_joint_pos_sin Tensor (7,) float64
steps/observation/robot0_joint_vel Tensor (7,) float64 7DOF joint velocities
steps/reward Tensor float64
steps/states Tensor (32,) float64
train Tensor bool
valid Tensor bool
worse Tensor bool
worse_better Tensor bool
worse_better_train Tensor bool
worse_better_valid Tensor bool
worse_okay Tensor bool
worse_okay_train Tensor bool
worse_okay_valid Tensor bool
worse_operator_1 Tensor bool
worse_operator_1_train Tensor bool
worse_operator_1_valid Tensor bool
worse_operator_2 Tensor bool
worse_operator_2_train Tensor bool
worse_operator_2_valid Tensor bool
worse_train Tensor bool
worse_valid Tensor bool

robomimic_mh/can_mh_image

  • Download size: 5.05 GiB

  • Dataset size: 1.23 GiB

  • Auto-cached (documentation): No

  • Feature structure:

FeaturesDict({
    '20_percent': bool,
    '20_percent_train': bool,
    '20_percent_valid': bool,
    '50_percent': bool,
    '50_percent_train': bool,
    '50_percent_valid': bool,
    'better': bool,
    'better_operator_1': bool,
    'better_operator_1_train': bool,
    'better_operator_1_valid': bool,
    'better_operator_2': bool,
    'better_operator_2_train': bool,
    'better_operator_2_valid': bool,
    'better_train': bool,
    'better_valid': bool,
    'episode_id': string,
    'horizon': int32,
    'okay': bool,
    'okay_better': bool,
    'okay_better_train': bool,
    'okay_better_valid': bool,
    'okay_operator_1': bool,
    'okay_operator_1_train': bool,
    'okay_operator_1_valid': bool,
    'okay_operator_2': bool,
    'okay_operator_2_train': bool,
    'okay_operator_2_valid': bool,
    'okay_train': bool,
    'okay_valid': bool,
    'steps': Dataset({
        'action': Tensor(shape=(7,), dtype=float64),
        'discount': int32,
        'is_first': bool,
        'is_last': bool,
        'is_terminal': bool,
        'observation': FeaturesDict({
            'agentview_image': Image(shape=(84, 84, 3), dtype=uint8),
            'object': Tensor(shape=(14,), dtype=float64),
            'robot0_eef_pos': Tensor(shape=(3,), dtype=float64, description=End-effector position),
            'robot0_eef_quat': Tensor(shape=(4,), dtype=float64, description=End-effector orientation),
            'robot0_eef_vel_ang': Tensor(shape=(3,), dtype=float64, description=End-effector angular velocity),
            'robot0_eef_vel_lin': Tensor(shape=(3,), dtype=float64, description=End-effector cartesian velocity),
            'robot0_eye_in_hand_image': Image(shape=(84, 84, 3), dtype=uint8),
            'robot0_gripper_qpos': Tensor(shape=(2,), dtype=float64, description=Gripper position),
            'robot0_gripper_qvel': Tensor(shape=(2,), dtype=float64, description=Gripper velocity),
            'robot0_joint_pos': Tensor(shape=(7,), dtype=float64, description=7DOF joint positions),
            'robot0_joint_pos_cos': Tensor(shape=(7,), dtype=float64),
            'robot0_joint_pos_sin': Tensor(shape=(7,), dtype=float64),
            'robot0_joint_vel': Tensor(shape=(7,), dtype=float64, description=7DOF joint velocities),
        }),
        'reward': float64,
        'states': Tensor(shape=(71,), dtype=float64),
    }),
    'train': bool,
    'valid': bool,
    'worse': bool,
    'worse_better': bool,
    'worse_better_train': bool,
    'worse_better_valid': bool,
    'worse_okay': bool,
    'worse_okay_train': bool,
    'worse_okay_valid': bool,
    'worse_operator_1': bool,
    'worse_operator_1_train': bool,
    'worse_operator_1_valid': bool,
    'worse_operator_2': bool,
    'worse_operator_2_train': bool,
    'worse_operator_2_valid': bool,
    'worse_train': bool,
    'worse_valid': bool,
})
  • Feature documentation:
Feature Class Shape Dtype Description
FeaturesDict
20_percent Tensor bool
20_percent_train Tensor bool
20_percent_valid Tensor bool
50_percent Tensor bool
50_percent_train Tensor bool
50_percent_valid Tensor bool
better Tensor bool
better_operator_1 Tensor bool
better_operator_1_train Tensor bool
better_operator_1_valid Tensor bool
better_operator_2 Tensor bool
better_operator_2_train Tensor bool
better_operator_2_valid Tensor bool
better_train Tensor bool
better_valid Tensor bool
episode_id Tensor string
horizon Tensor int32
okay Tensor bool
okay_better Tensor bool
okay_better_train Tensor bool
okay_better_valid Tensor bool
okay_operator_1 Tensor bool
okay_operator_1_train Tensor bool
okay_operator_1_valid Tensor bool
okay_operator_2 Tensor bool
okay_operator_2_train Tensor bool
okay_operator_2_valid Tensor bool
okay_train Tensor bool
okay_valid Tensor bool
steps Dataset
steps/action Tensor (7,) float64
steps/discount Tensor int32
steps/is_first Tensor bool
steps/is_last Tensor bool
steps/is_terminal Tensor bool
steps/observation FeaturesDict
steps/observation/agentview_image Image (84, 84, 3) uint8
steps/observation/object Tensor (14,) float64
steps/observation/robot0_eef_pos Tensor (3,) float64 End-effector position
steps/observation/robot0_eef_quat Tensor (4,) float64 End-effector orientation
steps/observation/robot0_eef_vel_ang Tensor (3,) float64 End-effector angular velocity
steps/observation/robot0_eef_vel_lin Tensor (3,) float64 End-effector cartesian velocity
steps/observation/robot0_eye_in_hand_image Image (84, 84, 3) uint8
steps/observation/robot0_gripper_qpos Tensor (2,) float64 Gripper position
steps/observation/robot0_gripper_qvel Tensor (2,) float64 Gripper velocity
steps/observation/robot0_joint_pos Tensor (7,) float64 7DOF joint positions
steps/observation/robot0_joint_pos_cos Tensor (7,) float64
steps/observation/robot0_joint_pos_sin Tensor (7,) float64
steps/observation/robot0_joint_vel Tensor (7,) float64 7DOF joint velocities
steps/reward Tensor float64
steps/states Tensor (71,) float64
train Tensor bool
valid Tensor bool
worse Tensor bool
worse_better Tensor bool
worse_better_train Tensor bool
worse_better_valid Tensor bool
worse_okay Tensor bool
worse_okay_train Tensor bool
worse_okay_valid Tensor bool
worse_operator_1 Tensor bool
worse_operator_1_train Tensor bool
worse_operator_1_valid Tensor bool
worse_operator_2 Tensor bool
worse_operator_2_train Tensor bool
worse_operator_2_valid Tensor bool
worse_train Tensor bool
worse_valid Tensor bool

robomimic_mh/can_mh_low_dim

  • Download size: 107.28 MiB

  • Dataset size: 75.19 MiB

  • Auto-cached (documentation): Yes

  • Feature structure:

FeaturesDict({
    '20_percent': bool,
    '20_percent_train': bool,
    '20_percent_valid': bool,
    '50_percent': bool,
    '50_percent_train': bool,
    '50_percent_valid': bool,
    'better': bool,
    'better_operator_1': bool,
    'better_operator_1_train': bool,
    'better_operator_1_valid': bool,
    'better_operator_2': bool,
    'better_operator_2_train': bool,
    'better_operator_2_valid': bool,
    'better_train': bool,
    'better_valid': bool,
    'episode_id': string,
    'horizon': int32,
    'okay': bool,
    'okay_better': bool,
    'okay_better_train': bool,
    'okay_better_valid': bool,
    'okay_operator_1': bool,
    'okay_operator_1_train': bool,
    'okay_operator_1_valid': bool,
    'okay_operator_2': bool,
    'okay_operator_2_train': bool,
    'okay_operator_2_valid': bool,
    'okay_train': bool,
    'okay_valid': bool,
    'steps': Dataset({
        'action': Tensor(shape=(7,), dtype=float64),
        'discount': int32,
        'is_first': bool,
        'is_last': bool,
        'is_terminal': bool,
        'observation': FeaturesDict({
            'object': Tensor(shape=(14,), dtype=float64),
            'robot0_eef_pos': Tensor(shape=(3,), dtype=float64, description=End-effector position),
            'robot0_eef_quat': Tensor(shape=(4,), dtype=float64, description=End-effector orientation),
            'robot0_eef_vel_ang': Tensor(shape=(3,), dtype=float64, description=End-effector angular velocity),
            'robot0_eef_vel_lin': Tensor(shape=(3,), dtype=float64, description=End-effector cartesian velocity),
            'robot0_gripper_qpos': Tensor(shape=(2,), dtype=float64, description=Gripper position),
            'robot0_gripper_qvel': Tensor(shape=(2,), dtype=float64, description=Gripper velocity),
            'robot0_joint_pos': Tensor(shape=(7,), dtype=float64, description=7DOF joint positions),
            'robot0_joint_pos_cos': Tensor(shape=(7,), dtype=float64),
            'robot0_joint_pos_sin': Tensor(shape=(7,), dtype=float64),
            'robot0_joint_vel': Tensor(shape=(7,), dtype=float64, description=7DOF joint velocities),
        }),
        'reward': float64,
        'states': Tensor(shape=(71,), dtype=float64),
    }),
    'train': bool,
    'valid': bool,
    'worse': bool,
    'worse_better': bool,
    'worse_better_train': bool,
    'worse_better_valid': bool,
    'worse_okay': bool,
    'worse_okay_train': bool,
    'worse_okay_valid': bool,
    'worse_operator_1': bool,
    'worse_operator_1_train': bool,
    'worse_operator_1_valid': bool,
    'worse_operator_2': bool,
    'worse_operator_2_train': bool,
    'worse_operator_2_valid': bool,
    'worse_train': bool,
    'worse_valid': bool,
})
  • Feature documentation:
Feature Class Shape Dtype Description
FeaturesDict
20_percent Tensor bool
20_percent_train Tensor bool
20_percent_valid Tensor bool
50_percent Tensor bool
50_percent_train Tensor bool
50_percent_valid Tensor bool
better Tensor bool
better_operator_1 Tensor bool
better_operator_1_train Tensor bool
better_operator_1_valid Tensor bool
better_operator_2 Tensor bool
better_operator_2_train Tensor bool
better_operator_2_valid Tensor bool
better_train Tensor bool
better_valid Tensor bool
episode_id Tensor string
horizon Tensor int32
okay Tensor bool
okay_better Tensor bool
okay_better_train Tensor bool
okay_better_valid Tensor bool
okay_operator_1 Tensor bool
okay_operator_1_train Tensor bool
okay_operator_1_valid Tensor bool
okay_operator_2 Tensor bool
okay_operator_2_train Tensor bool
okay_operator_2_valid Tensor bool
okay_train Tensor bool
okay_valid Tensor bool
steps Dataset
steps/action Tensor (7,) float64
steps/discount Tensor int32
steps/is_first Tensor bool
steps/is_last Tensor bool
steps/is_terminal Tensor bool
steps/observation FeaturesDict
steps/observation/object Tensor (14,) float64
steps/observation/robot0_eef_pos Tensor (3,) float64 End-effector position
steps/observation/robot0_eef_quat Tensor (4,) float64 End-effector orientation
steps/observation/robot0_eef_vel_ang Tensor (3,) float64 End-effector angular velocity
steps/observation/robot0_eef_vel_lin Tensor (3,) float64 End-effector cartesian velocity
steps/observation/robot0_gripper_qpos Tensor (2,) float64 Gripper position
steps/observation/robot0_gripper_qvel Tensor (2,) float64 Gripper velocity
steps/observation/robot0_joint_pos Tensor (7,) float64 7DOF joint positions
steps/observation/robot0_joint_pos_cos Tensor (7,) float64
steps/observation/robot0_joint_pos_sin Tensor (7,) float64
steps/observation/robot0_joint_vel Tensor (7,) float64 7DOF joint velocities
steps/reward Tensor float64
steps/states Tensor (71,) float64
train Tensor bool
valid Tensor bool
worse Tensor bool
worse_better Tensor bool
worse_better_train Tensor bool
worse_better_valid Tensor bool
worse_okay Tensor bool
worse_okay_train Tensor bool
worse_okay_valid Tensor bool
worse_operator_1 Tensor bool
worse_operator_1_train Tensor bool
worse_operator_1_valid Tensor bool
worse_operator_2 Tensor bool
worse_operator_2_train Tensor bool
worse_operator_2_valid Tensor bool
worse_train Tensor bool
worse_valid Tensor bool

robomimic_mh/square_mh_image

  • Download size: 6.48 GiB

  • Dataset size: 1.07 GiB

  • Auto-cached (documentation): No

  • Feature structure:

FeaturesDict({
    '20_percent': bool,
    '20_percent_train': bool,
    '20_percent_valid': bool,
    '50_percent': bool,
    '50_percent_train': bool,
    '50_percent_valid': bool,
    'better': bool,
    'better_operator_1': bool,
    'better_operator_1_train': bool,
    'better_operator_1_valid': bool,
    'better_operator_2': bool,
    'better_operator_2_train': bool,
    'better_operator_2_valid': bool,
    'better_train': bool,
    'better_valid': bool,
    'episode_id': string,
    'horizon': int32,
    'okay': bool,
    'okay_better': bool,
    'okay_better_train': bool,
    'okay_better_valid': bool,
    'okay_operator_1': bool,
    'okay_operator_1_train': bool,
    'okay_operator_1_valid': bool,
    'okay_operator_2': bool,
    'okay_operator_2_train': bool,
    'okay_operator_2_valid': bool,
    'okay_train': bool,
    'okay_valid': bool,
    'steps': Dataset({
        'action': Tensor(shape=(7,), dtype=float64),
        'discount': int32,
        'is_first': bool,
        'is_last': bool,
        'is_terminal': bool,
        'observation': FeaturesDict({
            'agentview_image': Image(shape=(84, 84, 3), dtype=uint8),
            'object': Tensor(shape=(14,), dtype=float64),
            'robot0_eef_pos': Tensor(shape=(3,), dtype=float64, description=End-effector position),
            'robot0_eef_quat': Tensor(shape=(4,), dtype=float64, description=End-effector orientation),
            'robot0_eef_vel_ang': Tensor(shape=(3,), dtype=float64, description=End-effector angular velocity),
            'robot0_eef_vel_lin': Tensor(shape=(3,), dtype=float64, description=End-effector cartesian velocity),
            'robot0_eye_in_hand_image': Image(shape=(84, 84, 3), dtype=uint8),
            'robot0_gripper_qpos': Tensor(shape=(2,), dtype=float64, description=Gripper position),
            'robot0_gripper_qvel': Tensor(shape=(2,), dtype=float64, description=Gripper velocity),
            'robot0_joint_pos': Tensor(shape=(7,), dtype=float64, description=7DOF joint positions),
            'robot0_joint_pos_cos': Tensor(shape=(7,), dtype=float64),
            'robot0_joint_pos_sin': Tensor(shape=(7,), dtype=float64),
            'robot0_joint_vel': Tensor(shape=(7,), dtype=float64, description=7DOF joint velocities),
        }),
        'reward': float64,
        'states': Tensor(shape=(45,), dtype=float64),
    }),
    'train': bool,
    'valid': bool,
    'worse': bool,
    'worse_better': bool,
    'worse_better_train': bool,
    'worse_better_valid': bool,
    'worse_okay': bool,
    'worse_okay_train': bool,
    'worse_okay_valid': bool,
    'worse_operator_1': bool,
    'worse_operator_1_train': bool,
    'worse_operator_1_valid': bool,
    'worse_operator_2': bool,
    'worse_operator_2_train': bool,
    'worse_operator_2_valid': bool,
    'worse_train': bool,
    'worse_valid': bool,
})
  • Feature documentation:
Feature Class Shape Dtype Description
FeaturesDict
20_percent Tensor bool
20_percent_train Tensor bool
20_percent_valid Tensor bool
50_percent Tensor bool
50_percent_train Tensor bool
50_percent_valid Tensor bool
better Tensor bool
better_operator_1 Tensor bool
better_operator_1_train Tensor bool
better_operator_1_valid Tensor bool
better_operator_2 Tensor bool
better_operator_2_train Tensor bool
better_operator_2_valid Tensor bool
better_train Tensor bool
better_valid Tensor bool
episode_id Tensor string
horizon Tensor int32
okay Tensor bool
okay_better Tensor bool
okay_better_train Tensor bool
okay_better_valid Tensor bool
okay_operator_1 Tensor bool
okay_operator_1_train Tensor bool
okay_operator_1_valid Tensor bool
okay_operator_2 Tensor bool
okay_operator_2_train Tensor bool
okay_operator_2_valid Tensor bool
okay_train Tensor bool
okay_valid Tensor bool
steps Dataset
steps/action Tensor (7,) float64
steps/discount Tensor int32
steps/is_first Tensor bool
steps/is_last Tensor bool
steps/is_terminal Tensor bool
steps/observation FeaturesDict
steps/observation/agentview_image Image (84, 84, 3) uint8
steps/observation/object Tensor (14,) float64
steps/observation/robot0_eef_pos Tensor (3,) float64 End-effector position
steps/observation/robot0_eef_quat Tensor (4,) float64 End-effector orientation
steps/observation/robot0_eef_vel_ang Tensor (3,) float64 End-effector angular velocity
steps/observation/robot0_eef_vel_lin Tensor (3,) float64 End-effector cartesian velocity
steps/observation/robot0_eye_in_hand_image Image (84, 84, 3) uint8
steps/observation/robot0_gripper_qpos Tensor (2,) float64 Gripper position
steps/observation/robot0_gripper_qvel Tensor (2,) float64 Gripper velocity
steps/observation/robot0_joint_pos Tensor (7,) float64 7DOF joint positions
steps/observation/robot0_joint_pos_cos Tensor (7,) float64
steps/observation/robot0_joint_pos_sin Tensor (7,) float64
steps/observation/robot0_joint_vel Tensor (7,) float64 7DOF joint velocities
steps/reward Tensor float64
steps/states Tensor (45,) float64
train Tensor bool
valid Tensor bool
worse Tensor bool
worse_better Tensor bool
worse_better_train Tensor bool
worse_better_valid Tensor bool
worse_okay Tensor bool
worse_okay_train Tensor bool
worse_okay_valid Tensor bool
worse_operator_1 Tensor bool
worse_operator_1_train Tensor bool
worse_operator_1_valid Tensor bool
worse_operator_2 Tensor bool
worse_operator_2_train Tensor bool
worse_operator_2_valid Tensor bool
worse_train Tensor bool
worse_valid Tensor bool

robomimic_mh/square_mh_low_dim

  • Download size: 118.13 MiB

  • Dataset size: 80.37 MiB

  • Auto-cached (documentation): Yes

  • Feature structure:

FeaturesDict({
    '20_percent': bool,
    '20_percent_train': bool,
    '20_percent_valid': bool,
    '50_percent': bool,
    '50_percent_train': bool,
    '50_percent_valid': bool,
    'better': bool,
    'better_operator_1': bool,
    'better_operator_1_train': bool,
    'better_operator_1_valid': bool,
    'better_operator_2': bool,
    'better_operator_2_train': bool,
    'better_operator_2_valid': bool,
    'better_train': bool,
    'better_valid': bool,
    'episode_id': string,
    'horizon': int32,
    'okay': bool,
    'okay_better': bool,
    'okay_better_train': bool,
    'okay_better_valid': bool,
    'okay_operator_1': bool,
    'okay_operator_1_train': bool,
    'okay_operator_1_valid': bool,
    'okay_operator_2': bool,
    'okay_operator_2_train': bool,
    'okay_operator_2_valid': bool,
    'okay_train': bool,
    'okay_valid': bool,
    'steps': Dataset({
        'action': Tensor(shape=(7,), dtype=float64),
        'discount': int32,
        'is_first': bool,
        'is_last': bool,
        'is_terminal': bool,
        'observation': FeaturesDict({
            'object': Tensor(shape=(14,), dtype=float64),
            'robot0_eef_pos': Tensor(shape=(3,), dtype=float64, description=End-effector position),
            'robot0_eef_quat': Tensor(shape=(4,), dtype=float64, description=End-effector orientation),
            'robot0_eef_vel_ang': Tensor(shape=(3,), dtype=float64, description=End-effector angular velocity),
            'robot0_eef_vel_lin': Tensor(shape=(3,), dtype=float64, description=End-effector cartesian velocity),
            'robot0_gripper_qpos': Tensor(shape=(2,), dtype=float64, description=Gripper position),
            'robot0_gripper_qvel': Tensor(shape=(2,), dtype=float64, description=Gripper velocity),
            'robot0_joint_pos': Tensor(shape=(7,), dtype=float64, description=7DOF joint positions),
            'robot0_joint_pos_cos': Tensor(shape=(7,), dtype=float64),
            'robot0_joint_pos_sin': Tensor(shape=(7,), dtype=float64),
            'robot0_joint_vel': Tensor(shape=(7,), dtype=float64, description=7DOF joint velocities),
        }),
        'reward': float64,
        'states': Tensor(shape=(45,), dtype=float64),
    }),
    'train': bool,
    'valid': bool,
    'worse': bool,
    'worse_better': bool,
    'worse_better_train': bool,
    'worse_better_valid': bool,
    'worse_okay': bool,
    'worse_okay_train': bool,
    'worse_okay_valid': bool,
    'worse_operator_1': bool,
    'worse_operator_1_train': bool,
    'worse_operator_1_valid': bool,
    'worse_operator_2': bool,
    'worse_operator_2_train': bool,
    'worse_operator_2_valid': bool,
    'worse_train': bool,
    'worse_valid': bool,
})
  • Feature documentation:
Feature Class Shape Dtype Description
FeaturesDict
20_percent Tensor bool
20_percent_train Tensor bool
20_percent_valid Tensor bool
50_percent Tensor bool
50_percent_train Tensor bool
50_percent_valid Tensor bool
better Tensor bool
better_operator_1 Tensor bool
better_operator_1_train Tensor bool
better_operator_1_valid Tensor bool
better_operator_2 Tensor bool
better_operator_2_train Tensor bool
better_operator_2_valid Tensor bool
better_train Tensor bool
better_valid Tensor bool
episode_id Tensor string
horizon Tensor int32
okay Tensor bool
okay_better Tensor bool
okay_better_train Tensor bool
okay_better_valid Tensor bool
okay_operator_1 Tensor bool
okay_operator_1_train Tensor bool
okay_operator_1_valid Tensor bool
okay_operator_2 Tensor bool
okay_operator_2_train Tensor bool
okay_operator_2_valid Tensor bool
okay_train Tensor bool
okay_valid Tensor bool
steps Dataset
steps/action Tensor (7,) float64
steps/discount Tensor int32
steps/is_first Tensor bool
steps/is_last Tensor bool
steps/is_terminal Tensor bool
steps/observation FeaturesDict
steps/observation/object Tensor (14,) float64
steps/observation/robot0_eef_pos Tensor (3,) float64 End-effector position
steps/observation/robot0_eef_quat Tensor (4,) float64 End-effector orientation
steps/observation/robot0_eef_vel_ang Tensor (3,) float64 End-effector angular velocity
steps/observation/robot0_eef_vel_lin Tensor (3,) float64 End-effector cartesian velocity
steps/observation/robot0_gripper_qpos Tensor (2,) float64 Gripper position
steps/observation/robot0_gripper_qvel Tensor (2,) float64 Gripper velocity
steps/observation/robot0_joint_pos Tensor (7,) float64 7DOF joint positions
steps/observation/robot0_joint_pos_cos Tensor (7,) float64
steps/observation/robot0_joint_pos_sin Tensor (7,) float64
steps/observation/robot0_joint_vel Tensor (7,) float64 7DOF joint velocities
steps/reward Tensor float64
steps/states Tensor (45,) float64
train Tensor bool
valid Tensor bool
worse Tensor bool
worse_better Tensor bool
worse_better_train Tensor bool
worse_better_valid Tensor bool
worse_okay Tensor bool
worse_okay_train Tensor bool
worse_okay_valid Tensor bool
worse_operator_1 Tensor bool
worse_operator_1_train Tensor bool
worse_operator_1_valid Tensor bool
worse_operator_2 Tensor bool
worse_operator_2_train Tensor bool
worse_operator_2_valid Tensor bool
worse_train Tensor bool
worse_valid Tensor bool

robomimic_mh/transport_mh_image

  • Download size: 31.47 GiB

  • Dataset size: 7.69 GiB

  • Auto-cached (documentation): No

  • Feature structure:

FeaturesDict({
    '20_percent': bool,
    '20_percent_train': bool,
    '20_percent_valid': bool,
    '50_percent': bool,
    '50_percent_train': bool,
    '50_percent_valid': bool,
    'better': bool,
    'better_train': bool,
    'better_valid': bool,
    'episode_id': string,
    'horizon': int32,
    'okay': bool,
    'okay_better': bool,
    'okay_better_train': bool,
    'okay_better_valid': bool,
    'okay_train': bool,
    'okay_valid': bool,
    'steps': Dataset({
        'action': Tensor(shape=(14,), dtype=float64),
        'discount': int32,
        'is_first': bool,
        'is_last': bool,
        'is_terminal': bool,
        'observation': FeaturesDict({
            'object': Tensor(shape=(41,), dtype=float64),
            'robot0_eef_pos': Tensor(shape=(3,), dtype=float64, description=End-effector position),
            'robot0_eef_quat': Tensor(shape=(4,), dtype=float64, description=End-effector orientation),
            'robot0_eef_vel_ang': Tensor(shape=(3,), dtype=float64, description=End-effector angular velocity),
            'robot0_eef_vel_lin': Tensor(shape=(3,), dtype=float64, description=End-effector cartesian velocity),
            'robot0_eye_in_hand_image': Image(shape=(84, 84, 3), dtype=uint8),
            'robot0_gripper_qpos': Tensor(shape=(2,), dtype=float64, description=Gripper position),
            'robot0_gripper_qvel': Tensor(shape=(2,), dtype=float64, description=Gripper velocity),
            'robot0_joint_pos': Tensor(shape=(7,), dtype=float64, description=7DOF joint positions),
            'robot0_joint_pos_cos': Tensor(shape=(7,), dtype=float64),
            'robot0_joint_pos_sin': Tensor(shape=(7,), dtype=float64),
            'robot0_joint_vel': Tensor(shape=(7,), dtype=float64, description=7DOF joint velocities),
            'robot1_eef_pos': Tensor(shape=(3,), dtype=float64, description=End-effector position),
            'robot1_eef_quat': Tensor(shape=(4,), dtype=float64, description=End-effector orientation),
            'robot1_eef_vel_ang': Tensor(shape=(3,), dtype=float64, description=End-effector angular velocity),
            'robot1_eef_vel_lin': Tensor(shape=(3,), dtype=float64, description=End-effector cartesian velocity),
            'robot1_eye_in_hand_image': Image(shape=(84, 84, 3), dtype=uint8),
            'robot1_gripper_qpos': Tensor(shape=(2,), dtype=float64, description=Gripper position),
            'robot1_gripper_qvel': Tensor(shape=(2,), dtype=float64, description=Gripper velocity),
            'robot1_joint_pos': Tensor(shape=(7,), dtype=float64, description=7DOF joint positions),
            'robot1_joint_pos_cos': Tensor(shape=(7,), dtype=float64),
            'robot1_joint_pos_sin': Tensor(shape=(7,), dtype=float64),
            'robot1_joint_vel': Tensor(shape=(7,), dtype=float64, description=7DOF joint velocities),
            'shouldercamera0_image': Image(shape=(84, 84, 3), dtype=uint8),
            'shouldercamera1_image': Image(shape=(84, 84, 3), dtype=uint8),
        }),
        'reward': float64,
        'states': Tensor(shape=(115,), dtype=float64),
    }),
    'train': bool,
    'valid': bool,
    'worse': bool,
    'worse_better': bool,
    'worse_better_train': bool,
    'worse_better_valid': bool,
    'worse_okay': bool,
    'worse_okay_train': bool,
    'worse_okay_valid': bool,
    'worse_train': bool,
    'worse_valid': bool,
})
  • Feature documentation:
Feature Class Shape Dtype Description
FeaturesDict
20_percent Tensor bool
20_percent_train Tensor bool
20_percent_valid Tensor bool
50_percent Tensor bool
50_percent_train Tensor bool
50_percent_valid Tensor bool
better Tensor bool
better_train Tensor bool
better_valid Tensor bool
episode_id Tensor string
horizon Tensor int32
okay Tensor bool
okay_better Tensor bool
okay_better_train Tensor bool
okay_better_valid Tensor bool
okay_train Tensor bool
okay_valid Tensor bool
steps Dataset
steps/action Tensor (14,) float64
steps/discount Tensor int32
steps/is_first Tensor bool
steps/is_last Tensor bool
steps/is_terminal Tensor bool
steps/observation FeaturesDict
steps/observation/object Tensor (41,) float64
steps/observation/robot0_eef_pos Tensor (3,) float64 End-effector position
steps/observation/robot0_eef_quat Tensor (4,) float64 End-effector orientation
steps/observation/robot0_eef_vel_ang Tensor (3,) float64 End-effector angular velocity
steps/observation/robot0_eef_vel_lin Tensor (3,) float64 End-effector cartesian velocity
steps/observation/robot0_eye_in_hand_image Image (84, 84, 3) uint8
steps/observation/robot0_gripper_qpos Tensor (2,) float64 Gripper position
steps/observation/robot0_gripper_qvel Tensor (2,) float64 Gripper velocity
steps/observation/robot0_joint_pos Tensor (7,) float64 7DOF joint positions
steps/observation/robot0_joint_pos_cos Tensor (7,) float64
steps/observation/robot0_joint_pos_sin Tensor (7,) float64
steps/observation/robot0_joint_vel Tensor (7,) float64 7DOF joint velocities
steps/observation/robot1_eef_pos Tensor (3,) float64 End-effector position
steps/observation/robot1_eef_quat Tensor (4,) float64 End-effector orientation
steps/observation/robot1_eef_vel_ang Tensor (3,) float64 End-effector angular velocity
steps/observation/robot1_eef_vel_lin Tensor (3,) float64 End-effector cartesian velocity
steps/observation/robot1_eye_in_hand_image Image (84, 84, 3) uint8
steps/observation/robot1_gripper_qpos Tensor (2,) float64 Gripper position
steps/observation/robot1_gripper_qvel Tensor (2,) float64 Gripper velocity
steps/observation/robot1_joint_pos Tensor (7,) float64 7DOF joint positions
steps/observation/robot1_joint_pos_cos Tensor (7,) float64
steps/observation/robot1_joint_pos_sin Tensor (7,) float64
steps/observation/robot1_joint_vel Tensor (7,) float64 7DOF joint velocities
steps/observation/shouldercamera0_image Image (84, 84, 3) uint8
steps/observation/shouldercamera1_image Image (84, 84, 3) uint8
steps/reward Tensor float64
steps/states Tensor (115,) float64
train Tensor bool
valid Tensor bool
worse Tensor bool
worse_better Tensor bool
worse_better_train Tensor bool
worse_better_valid Tensor bool
worse_okay Tensor bool
worse_okay_train Tensor bool
worse_okay_valid Tensor bool
worse_train Tensor bool
worse_valid Tensor bool

robomimic_mh/transport_mh_low_dim

  • Download size: 607.47 MiB

  • Dataset size: 434.43 MiB

  • Auto-cached (documentation): No

  • Feature structure:

FeaturesDict({
    '20_percent': bool,
    '20_percent_train': bool,
    '20_percent_valid': bool,
    '50_percent': bool,
    '50_percent_train': bool,
    '50_percent_valid': bool,
    'better': bool,
    'better_train': bool,
    'better_valid': bool,
    'episode_id': string,
    'horizon': int32,
    'okay': bool,
    'okay_better': bool,
    'okay_better_train': bool,
    'okay_better_valid': bool,
    'okay_train': bool,
    'okay_valid': bool,
    'steps': Dataset({
        'action': Tensor(shape=(14,), dtype=float64),
        'discount': int32,
        'is_first': bool,
        'is_last': bool,
        'is_terminal': bool,
        'observation': FeaturesDict({
            'object': Tensor(shape=(41,), dtype=float64),
            'robot0_eef_pos': Tensor(shape=(3,), dtype=float64, description=End-effector position),
            'robot0_eef_quat': Tensor(shape=(4,), dtype=float64, description=End-effector orientation),
            'robot0_eef_vel_ang': Tensor(shape=(3,), dtype=float64, description=End-effector angular velocity),
            'robot0_eef_vel_lin': Tensor(shape=(3,), dtype=float64, description=End-effector cartesian velocity),
            'robot0_gripper_qpos': Tensor(shape=(2,), dtype=float64, description=Gripper position),
            'robot0_gripper_qvel': Tensor(shape=(2,), dtype=float64, description=Gripper velocity),
            'robot0_joint_pos': Tensor(shape=(7,), dtype=float64, description=7DOF joint positions),
            'robot0_joint_pos_cos': Tensor(shape=(7,), dtype=float64),
            'robot0_joint_pos_sin': Tensor(shape=(7,), dtype=float64),
            'robot0_joint_vel': Tensor(shape=(7,), dtype=float64, description=7DOF joint velocities),
            'robot1_eef_pos': Tensor(shape=(3,), dtype=float64, description=End-effector position),
            'robot1_eef_quat': Tensor(shape=(4,), dtype=float64, description=End-effector orientation),
            'robot1_eef_vel_ang': Tensor(shape=(3,), dtype=float64, description=End-effector angular velocity),
            'robot1_eef_vel_lin': Tensor(shape=(3,), dtype=float64, description=End-effector cartesian velocity),
            'robot1_gripper_qpos': Tensor(shape=(2,), dtype=float64, description=Gripper position),
            'robot1_gripper_qvel': Tensor(shape=(2,), dtype=float64, description=Gripper velocity),
            'robot1_joint_pos': Tensor(shape=(7,), dtype=float64, description=7DOF joint positions),
            'robot1_joint_pos_cos': Tensor(shape=(7,), dtype=float64),
            'robot1_joint_pos_sin': Tensor(shape=(7,), dtype=float64),
            'robot1_joint_vel': Tensor(shape=(7,), dtype=float64, description=7DOF joint velocities),
        }),
        'reward': float64,
        'states': Tensor(shape=(115,), dtype=float64),
    }),
    'train': bool,
    'valid': bool,
    'worse': bool,
    'worse_better': bool,
    'worse_better_train': bool,
    'worse_better_valid': bool,
    'worse_okay': bool,
    'worse_okay_train': bool,
    'worse_okay_valid': bool,
    'worse_train': bool,
    'worse_valid': bool,
})
  • Feature documentation:
Feature Class Shape Dtype Description
FeaturesDict
20_percent Tensor bool
20_percent_train Tensor bool
20_percent_valid Tensor bool
50_percent Tensor bool
50_percent_train Tensor bool
50_percent_valid Tensor bool
better Tensor bool
better_train Tensor bool
better_valid Tensor bool
episode_id Tensor string
horizon Tensor int32
okay Tensor bool
okay_better Tensor bool
okay_better_train Tensor bool
okay_better_valid Tensor bool
okay_train Tensor bool
okay_valid Tensor bool
steps Dataset
steps/action Tensor (14,) float64
steps/discount Tensor int32
steps/is_first Tensor bool
steps/is_last Tensor bool
steps/is_terminal Tensor bool
steps/observation FeaturesDict
steps/observation/object Tensor (41,) float64
steps/observation/robot0_eef_pos Tensor (3,) float64 End-effector position
steps/observation/robot0_eef_quat Tensor (4,) float64 End-effector orientation
steps/observation/robot0_eef_vel_ang Tensor (3,) float64 End-effector angular velocity
steps/observation/robot0_eef_vel_lin Tensor (3,) float64 End-effector cartesian velocity
steps/observation/robot0_gripper_qpos Tensor (2,) float64 Gripper position
steps/observation/robot0_gripper_qvel Tensor (2,) float64 Gripper velocity
steps/observation/robot0_joint_pos Tensor (7,) float64 7DOF joint positions
steps/observation/robot0_joint_pos_cos Tensor (7,) float64
steps/observation/robot0_joint_pos_sin Tensor (7,) float64
steps/observation/robot0_joint_vel Tensor (7,) float64 7DOF joint velocities
steps/observation/robot1_eef_pos Tensor (3,) float64 End-effector position
steps/observation/robot1_eef_quat Tensor (4,) float64 End-effector orientation
steps/observation/robot1_eef_vel_ang Tensor (3,) float64 End-effector angular velocity
steps/observation/robot1_eef_vel_lin Tensor (3,) float64 End-effector cartesian velocity
steps/observation/robot1_gripper_qpos Tensor (2,) float64 Gripper position
steps/observation/robot1_gripper_qvel Tensor (2,) float64 Gripper velocity
steps/observation/robot1_joint_pos Tensor (7,) float64 7DOF joint positions
steps/observation/robot1_joint_pos_cos Tensor (7,) float64
steps/observation/robot1_joint_pos_sin Tensor (7,) float64
steps/observation/robot1_joint_vel Tensor (7,) float64 7DOF joint velocities
steps/reward Tensor float64
steps/states Tensor (115,) float64
train Tensor bool
valid Tensor bool
worse Tensor bool
worse_better Tensor bool
worse_better_train Tensor bool
worse_better_valid Tensor bool
worse_okay Tensor bool
worse_okay_train Tensor bool
worse_okay_valid Tensor bool
worse_train Tensor bool
worse_valid Tensor bool