metadata
license: mit
task_categories:
- robotics
tags:
- LeRobot
- calvin
- franka
- manipulation
- language-conditioned
- pi0
configs:
- config_name: default
data_files: data/*/*.parquet
This dataset was created using LeRobot.
Dataset Description
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: mit
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "franka",
"total_episodes": 9,
"total_frames": 503,
"total_tasks": 9,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:9"
},
"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.images.base_0_rgb": {
"dtype": "image",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channel"
]
},
"observation.images.left_wrist_0_rgb": {
"dtype": "image",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channel"
]
},
"observation.images.right_wrist_0_rgb": {
"dtype": "image",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channel"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
32
],
"names": [
"state"
]
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"action"
]
},
"observation.tokenized_prompt": {
"dtype": "int32",
"shape": [
48
],
"names": [
"tokens"
]
},
"observation.tokenized_prompt_mask": {
"dtype": "bool",
"shape": [
48
],
"names": [
"mask"
]
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
[More Information Needed]