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 *.lfs.* filter=lfs diff=lfs merge=lfs -text
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README.md

@@ -0,0 +1,158 @@
+---
+license: mit
+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:** https://diffusion-policy.cs.columbia.edu/
+- **Paper:** https://arxiv.org/abs/2303.04137v5
+- **License:** mit
+
+## Dataset Structure
+
+[meta/info.json](meta/info.json):
+```json
+{
+    "codebase_version": "v2.0",
+    "robot_type": "unknown",
+    "total_episodes": 206,
+    "total_frames": 25650,
+    "total_tasks": 1,
+    "total_videos": 206,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 10,
+    "splits": {
+        "train": "0:206"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "observation.image": {
+            "dtype": "video",
+            "shape": [
+                96,
+                96,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "video_info": {
+                "video.fps": 10.0,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                2
+            ],
+            "names": {
+                "motors": [
+                    "motor_0",
+                    "motor_1"
+                ]
+            }
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                2
+            ],
+            "names": {
+                "motors": [
+                    "motor_0",
+                    "motor_1"
+                ]
+            }
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "next.reward": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "next.done": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "next.success": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
+```
+
+
+## Citation
+
+**BibTeX:**
+
+```bibtex
+@article{chi2024diffusionpolicy,
+    author = {Cheng Chi and Zhenjia Xu and Siyuan Feng and Eric Cousineau and Yilun Du and Benjamin Burchfiel and Russ Tedrake and Shuran Song},
+    title ={Diffusion Policy: Visuomotor Policy Learning via Action Diffusion},
+    journal = {The International Journal of Robotics Research},
+    year = {2024},
+}
+```

data/chunk-000/episode_000001.parquet

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+size 21657

meta/episodes.jsonl

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+{"episode_index": 0, "tasks": ["Push the T-shaped block onto the T-shaped target."], "length": 644}

meta/episodes_stats.jsonl

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+{"episode_index": 0, "stats": {"observation.image": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.971221220462866]], [[0.9597391613774777]], [[0.9511610388548233]]], "std": [[[0.07689539518206108]], [[0.17204725742909527]], [[0.1628096548935342]]], "count": [100]}, "observation.state": {"min": [-0.09973146766424179, 0.41585952043533325], "max": [0.12305367738008499, 0.7031053900718689], "mean": [0.024191024302765596, 0.6012363766758447], "std": [0.06816179310538653, 0.09104716903689453], "count": [427]}, "action": {"min": [-1.0, -1.0], "max": [1.0, 0.8349109292030334], "mean": [0.018332271696563453, -0.0782456231885317], "std": [0.40100337026607946, 0.37188337295521534], "count": [427]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [427]}, "frame_index": {"min": [0], "max": [426], "mean": [213.0], "std": [123.26394444443193], "count": [427]}, "timestamp": {"min": [0.0], "max": [42.600000000000335], "mean": [21.300000000000086], "std": [12.326394444443299], "count": [427]}, "next.reward": {"min": [0.3751977222397975], "max": [0.9231255931667194], "mean": [0.5822728259444178], "std": [0.1781399972564734], "count": [427]}, "next.done": {"min": [false], "max": [true], "mean": [0.00234192037470726], "std": [0.04833669189824425], "count": [427]}, "next.success": {"min": [false], "max": [true], "mean": [0.00234192037470726], "std": [0.04833669189824425], "count": [427]}, "index": {"min": [0], "max": [426], "mean": [213.0], "std": [123.26394444443193], "count": [427]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [427]}}}

meta/info.json

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+{
+    "codebase_version": "v2.1",
+    "robot_type": "unknown",
+    "total_episodes": 1,
+    "total_frames": 300,
+    "total_tasks": 1,
+    "total_videos": 1,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 10,
+    "splits": {
+        "train": "0:4"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "observation.image": {
+            "dtype": "video",
+            "shape": [
+                302,
+                362,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "video_info": {
+                "video.fps": 10.0,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                2
+            ],
+            "names": {
+                "motors": [
+                    "motor_0",
+                    "motor_1"
+                ]
+            }
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                2
+            ],
+            "names": {
+                "motors": [
+                    "motor_0",
+                    "motor_1"
+                ]
+            }
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
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+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
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+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
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+            "names": null
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+        "next.reward": {
+            "dtype": "float32",
+            "shape": [
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+            "names": null
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+        "next.done": {
+            "dtype": "bool",
+            "shape": [
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+            "names": null
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+        "next.success": {
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+            "shape": [
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+            "names": null
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+        "index": {
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+            "shape": [
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+        "task_index": {
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+            "shape": [
+                1
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+            "names": null
+        }
+    }
+}

meta/tasks.jsonl

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+{"task_index": 0, "task": "Push the T-shaped block onto the T-shaped target."}

videos/chunk-000/observation.image/episode_000001.mp4

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