--- license: apache-2.0 task_categories: - robotics tags: - LeRobot - real - hdf5 - hessian - 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": "v2.1", "robot_type": "hessian", "total_episodes": 246, "total_frames": 76383, "total_tasks": 1, "total_videos": 738, "total_chunks": 1, "chunks_size": 1000, "fps": 60, "splits": { "train": "0:246" }, "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.video_left": { "dtype": "video", "shape": [ 224, 224, 3 ], "names": [ "height", "width", "channel" ], "info": { "video.height": 224, "video.width": 224, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 60, "video.channels": 3, "has_audio": false } }, "observation.images.video_overhead": { "dtype": "video", "shape": [ 224, 224, 3 ], "names": [ "height", "width", "channel" ], "info": { "video.height": 224, "video.width": 224, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 60, "video.channels": 3, "has_audio": false } }, "observation.images.video_right": { "dtype": "video", "shape": [ 224, 224, 3 ], "names": [ "height", "width", "channel" ], "info": { "video.height": 224, "video.width": 224, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 60, "video.channels": 3, "has_audio": false } }, "observation.state": { "dtype": "float32", "shape": [ 14 ], "names": [ "state" ] }, "observation.velocity": { "dtype": "float32", "shape": [ 14 ], "names": [ "velocity" ] }, "action": { "dtype": "float32", "shape": [ 14 ], "names": [ "action" ] }, "source.action_time_s": { "dtype": "float32", "shape": [ 1 ], "names": null }, "metadata.failure": { "dtype": "bool", "shape": [ 1 ], "names": null }, "metadata.subgoal_switch": { "dtype": "bool", "shape": [ 1 ], "names": null }, "metadata.compress": { "dtype": "bool", "shape": [ 1 ], "names": null }, "metadata.double_arm": { "dtype": "bool", "shape": [ 1 ], "names": null }, "metadata.error_recovery": { "dtype": "bool", "shape": [ 1 ], "names": null }, "metadata.error_recovery_probability": { "dtype": "float32", "shape": [ 1 ], "names": null }, "metadata.error_recovery_probability_present": { "dtype": "bool", "shape": [ 1 ], "names": null }, "metadata.failure_count": { "dtype": "int64", "shape": [ 1 ], "names": null }, "metadata.failure_key": { "dtype": "string", "shape": [ 1 ], "names": null }, "metadata.has_raw_actions": { "dtype": "bool", "shape": [ 1 ], "names": null }, "metadata.landmark_mode_enabled": { "dtype": "bool", "shape": [ 1 ], "names": null }, "metadata.left_interface": { "dtype": "string", "shape": [ 1 ], "names": null }, "metadata.num_landmarks": { "dtype": "int64", "shape": [ 1 ], "names": null }, "metadata.partial_subgoal_completed_count": { "dtype": "int64", "shape": [ 1 ], "names": null }, "metadata.partial_subgoal_completed_order": { "dtype": "int64", "shape": [ 2 ], "names": null }, "metadata.partial_subgoal_completed_order_length": { "dtype": "int64", "shape": [ 1 ], "names": null }, "metadata.partial_subgoal_completed_order_string": { "dtype": "string", "shape": [ 1 ], "names": null }, "metadata.partial_subgoal_full_order": { "dtype": "int64", "shape": [ 3 ], "names": null }, "metadata.partial_subgoal_full_order_length": { "dtype": "int64", "shape": [ 1 ], "names": null }, "metadata.partial_subgoal_mode_enabled": { "dtype": "bool", "shape": [ 1 ], "names": null }, "metadata.partial_subgoal_remaining_order": { "dtype": "int64", "shape": [ 3 ], "names": null }, "metadata.partial_subgoal_remaining_order_length": { "dtype": "int64", "shape": [ 1 ], "names": null }, "metadata.partial_subgoal_remaining_order_string": { "dtype": "string", "shape": [ 1 ], "names": null }, "metadata.partial_subgoal_start_key": { "dtype": "string", "shape": [ 1 ], "names": null }, "metadata.partial_subgoal_start_timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "metadata.recording_stop_event_timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "metadata.recording_stop_key": { "dtype": "string", "shape": [ 1 ], "names": null }, "metadata.right_interface": { "dtype": "string", "shape": [ 1 ], "names": null }, "metadata.robot_type": { "dtype": "string", "shape": [ 1 ], "names": null }, "metadata.sim": { "dtype": "bool", "shape": [ 1 ], "names": null }, "metadata.single_arm": { "dtype": "bool", "shape": [ 1 ], "names": null }, "metadata.subgoal_order": { "dtype": "int64", "shape": [ 3 ], "names": null }, "metadata.subgoal_order_length": { "dtype": "int64", "shape": [ 1 ], "names": null }, "metadata.subgoal_order_string": { "dtype": "string", "shape": [ 1 ], "names": null }, "metadata.subgoal_switch_count": { "dtype": "int64", "shape": [ 1 ], "names": null }, "metadata.subgoal_switch_key": { "dtype": "string", "shape": [ 1 ], "names": null }, "metadata.subgoal_switch_timestamps": { "dtype": "float32", "shape": [ 3 ], "names": null }, "metadata.subgoal_switch_timestamps_length": { "dtype": "int64", "shape": [ 1 ], "names": null }, "metadata.task_name": { "dtype": "string", "shape": [ 1 ], "names": null }, "prompt": { "dtype": "string", "shape": [ 1 ], "names": null }, "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:** ```bibtex [More Information Needed] ```