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Datasets:
DAVIAN-Robotics
/
dexmimicgen-TwoArmCanSortRandom-MG_1000

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
100K - 1M
Tags:
LeRobot
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
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+ ---
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+ license: apache-2.0
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+ task_categories:
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+ - robotics
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+ tags:
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+ - LeRobot
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+ configs:
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+ - config_name: default
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+ data_files: data/*/*.parquet
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+ ---
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+
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+ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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+
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+ ## Dataset Description
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+
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+
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+
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+ - **Homepage:** [More Information Needed]
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+ - **Paper:** [More Information Needed]
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+ - **License:** apache-2.0
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+
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+ ## Dataset Structure
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+
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+ [meta/info.json](meta/info.json):
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+ ```json
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+ {
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+ "codebase_version": "v3.0",
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+ "robot_type": "robomimic",
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+ "total_episodes": 1000,
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+ "total_frames": 315796,
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+ "total_tasks": 1,
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+ "chunks_size": 1000,
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+ "data_files_size_in_mb": 100,
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+ "video_files_size_in_mb": 200,
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+ "fps": 20,
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+ "splits": {
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+ "train": "0:1000"
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+ },
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+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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+ "features": {
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+ "action": {
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+ "dtype": "float32",
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+ "shape": [
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+ 24
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+ ],
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+ "names": [
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+ "action_0",
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+ "action_1",
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+ "action_2",
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+ "action_3",
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+ "action_4",
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+ "action_5",
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+ "action_6",
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+ "action_7",
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+ "action_8",
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+ "action_9",
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+ "action_10",
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+ "action_11",
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+ "action_12",
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+ "action_13",
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+ "action_14",
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+ "action_15",
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+ "action_16",
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+ "action_17",
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+ "action_18",
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+ "action_19",
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+ "action_20",
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+ "action_21",
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+ "action_22",
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+ "action_23"
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+ ]
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+ },
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+ "observation.state": {
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+ "dtype": "float32",
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+ "shape": [
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+ 36
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+ ],
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+ "names": [
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+ "robot0_right_eef_pos_0",
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+ "robot0_right_eef_pos_1",
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+ "robot0_right_eef_pos_2",
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+ "robot0_right_eef_quat_0",
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+ "robot0_right_eef_quat_1",
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+ "robot0_right_eef_quat_2",
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+ "robot0_right_eef_quat_3",
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+ "robot0_right_gripper_qpos_0",
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+ "robot0_right_gripper_qpos_1",
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+ "robot0_right_gripper_qpos_2",
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+ "robot0_right_gripper_qpos_3",
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+ "robot0_right_gripper_qpos_4",
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+ "robot0_right_gripper_qpos_5",
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+ "robot0_right_gripper_qpos_6",
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+ "robot0_right_gripper_qpos_7",
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+ "robot0_right_gripper_qpos_8",
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+ "robot0_right_gripper_qpos_9",
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+ "robot0_right_gripper_qpos_10",
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+ "robot0_left_eef_pos_0",
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+ "robot0_left_eef_pos_1",
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+ "robot0_left_eef_pos_2",
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+ "robot0_left_eef_quat_0",
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+ "robot0_left_eef_quat_1",
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+ "robot0_left_eef_quat_2",
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+ "robot0_left_eef_quat_3",
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+ "robot0_left_gripper_qpos_0",
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+ "robot0_left_gripper_qpos_1",
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+ "robot0_left_gripper_qpos_2",
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+ "robot0_left_gripper_qpos_3",
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+ "robot0_left_gripper_qpos_4",
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+ "robot0_left_gripper_qpos_5",
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+ "robot0_left_gripper_qpos_6",
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+ "robot0_left_gripper_qpos_7",
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+ "robot0_left_gripper_qpos_8",
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+ "robot0_left_gripper_qpos_9",
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+ "robot0_left_gripper_qpos_10"
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+ ]
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+ },
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+ "task_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "observation.images.frontview_image": {
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+ "dtype": "video",
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+ "shape": [
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+ 84,
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+ 84,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "channel"
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+ ],
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+ "info": {
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+ "video.height": 84,
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+ "video.width": 84,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "video.fps": 20,
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+ "video.channels": 3,
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+ "has_audio": false
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+ }
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+ },
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+ "observation.images.robot0_eye_in_left_hand_image": {
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+ "dtype": "video",
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+ "shape": [
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+ 84,
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+ 84,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "channel"
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+ ],
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+ "info": {
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+ "video.height": 84,
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+ "video.width": 84,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "video.fps": 20,
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+ "video.channels": 3,
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+ "has_audio": false
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+ }
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+ },
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+ "observation.images.robot0_eye_in_right_hand_image": {
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+ "dtype": "video",
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+ "shape": [
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+ 84,
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+ 84,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "channel"
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+ ],
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+ "info": {
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+ "video.height": 84,
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+ "video.width": 84,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "video.fps": 20,
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+ "video.channels": 3,
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+ "has_audio": false
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+ }
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+ },
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+ "timestamp": {
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+ "dtype": "float32",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "frame_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "episode_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "next.done": {
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+ "dtype": "bool",
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+ "shape": [
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+ 1
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+ ],
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+ "names": [
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+ "done"
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+ ]
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+ }
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+ }
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+ }
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+ ```
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+
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+
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+ ## Citation
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+
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+ **BibTeX:**
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+
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+ ```bibtex
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+ [More Information Needed]
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+ ```