README.md

metadata

license: apache-2.0
task_categories:
  - robotics
tags:
  - LeRobot
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: apache-2.0

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "double_piper",
    "total_episodes": 50,
    "total_frames": 44279,
    "total_tasks": 1,
    "chunks_size": 1000,
    "fps": 50,
    "splits": {
        "train": "0:50"
    },
    "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.images.left_hand": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "video_info": {
                "video.width": 640,
                "video.height": 480,
                "video.fps": 50.0,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.channels": 3,
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.first_person": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "video_info": {
                "video.width": 640,
                "video.height": 480,
                "video.fps": 50.0,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.channels": 3,
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.right_hand": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "video_info": {
                "video.width": 640,
                "video.height": 480,
                "video.fps": 50.0,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.channels": 3,
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                16
            ],
            "names": [
                "joint1_r",
                "joint1_l",
                "joint2_r",
                "joint2_l",
                "joint3_r",
                "joint3_l",
                "joint4_r",
                "joint4_l",
                "joint5_r",
                "joint5_l",
                "joint6_r",
                "joint6_l",
                "finger_joint_left_r",
                "finger_joint_right_r",
                "finger_joint_left_l",
                "finger_joint_right_l"
            ],
            "fps": 50
        },
        "action": {
            "dtype": "float32",
            "shape": [
                12
            ],
            "names": [
                "joint1_l",
                "joint2_l",
                "joint3_l",
                "joint5_l",
                "joint6_l",
                "joint1_r",
                "joint2_r",
                "joint3_r",
                "joint5_r",
                "joint6_r",
                "left_gripper",
                "right_gripper"
            ],
            "fps": 50
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "fps": 50
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "fps": 50
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "fps": 50
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "fps": 50
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "fps": 50
        }
    },
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500
}

Citation

BibTeX:

[More Information Needed]