| | --- |
| | license: apache-2.0 |
| | task_categories: |
| | - robotics |
| | tags: |
| | - LeRobot |
| | configs: |
| | - config_name: default |
| | data_files: data/*/*.parquet |
| | --- |
| | |
| | This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
| |
|
| | ## Dataset Description |
| |
|
| |
|
| |
|
| | - **Homepage:** [More Information Needed] |
| | - **Paper:** [More Information Needed] |
| | - **License:** apache-2.0 |
| |
|
| | ## Dataset Structure |
| |
|
| | [meta/info.json](meta/info.json): |
| | ```json |
| | { |
| | "codebase_version": "v3.0", |
| | "robot_type": "r1_humanoid", |
| | "total_episodes": 77, |
| | "total_frames": 44886, |
| | "total_tasks": 1, |
| | "fps": 10, |
| | "splits": { |
| | "train": "0:77" |
| | }, |
| | "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", |
| | "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", |
| | "features": { |
| | "observation.state": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 17 |
| | ], |
| | "names": [ |
| | "right_shoulder_link_joint", |
| | "right_arm_top_link_joint", |
| | "right_arm_bottom_link_joint", |
| | "right_forearm_link_joint", |
| | "wrist_pitch_joint_r", |
| | "wrist_roll_joint_r", |
| | "thumb_joint_roll_r", |
| | "index_proximal_joint_r", |
| | "middle_proximal_joint_r", |
| | "ring_proximal_joint_r", |
| | "little_proximal_joint_r", |
| | "thumb_proximal_joint_r", |
| | "index_proximal_joint_r_1", |
| | "middle_proximal_joint_r_1", |
| | "ring_proximal_joint_r_1", |
| | "little_proximal_joint_r_1", |
| | "thumb_proximal_joint_r_1" |
| | ], |
| | "fps": 10 |
| | }, |
| | "action": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 17 |
| | ], |
| | "names": [ |
| | "right_shoulder_link_joint", |
| | "right_arm_top_link_joint", |
| | "right_arm_bottom_link_joint", |
| | "right_forearm_link_joint", |
| | "wrist_pitch_joint_r", |
| | "wrist_roll_joint_r", |
| | "thumb_joint_roll_r", |
| | "index_proximal_joint_r", |
| | "middle_proximal_joint_r", |
| | "ring_proximal_joint_r", |
| | "little_proximal_joint_r", |
| | "thumb_proximal_joint_r", |
| | "index_proximal_joint_r_1", |
| | "middle_proximal_joint_r_1", |
| | "ring_proximal_joint_r_1", |
| | "little_proximal_joint_r_1", |
| | "thumb_proximal_joint_r_1" |
| | ], |
| | "fps": 10 |
| | }, |
| | "observation.images.rgb": { |
| | "dtype": "video", |
| | "shape": [ |
| | 360, |
| | 640, |
| | 3 |
| | ], |
| | "names": [ |
| | "height", |
| | "width", |
| | "channels" |
| | ], |
| | "info": { |
| | "video.fps": 10, |
| | "video.height": 360, |
| | "video.width": 640, |
| | "video.codec": "h264", |
| | "video.pix_fmt": "yuv420p" |
| | } |
| | }, |
| | "timestamp": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": null, |
| | "fps": 10 |
| | }, |
| | "frame_index": { |
| | "dtype": "int64", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": null, |
| | "fps": 10 |
| | }, |
| | "episode_index": { |
| | "dtype": "int64", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": null, |
| | "fps": 10 |
| | }, |
| | "index": { |
| | "dtype": "int64", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": null, |
| | "fps": 10 |
| | }, |
| | "task_index": { |
| | "dtype": "int64", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": null, |
| | "fps": 10 |
| | } |
| | }, |
| | "chunks_size": 1000, |
| | "data_files_size_in_mb": 100, |
| | "video_files_size_in_mb": 200 |
| | } |
| | ``` |
| |
|
| |
|
| | ## Citation |
| |
|
| | **BibTeX:** |
| |
|
| | ```bibtex |
| | [More Information Needed] |
| | ``` |
