Refresh: unified feature keys (action, observation.images.head/wrist_right); LeRobot-standard projection

README.md

@@ -9,36 +9,36 @@ tags:
 - visuomotor-policy
 ---
 
-# RLBench-18 v3 EEF — Train Split (LeRobot v3.0)
+# RLBench-18 v3 EEF — Train Split (LeRobot v3)
 
-RLBench 18-task PerAct dataset converted to LeRobot v3.0 with **lossless H.264 video** (CRF=0, yuv444p).
+RLBench 18-task PerAct dataset converted to LeRobot v3 with lossless H.264
+video (CRF=0, yuv444p), 20 Hz, single-arm Franka Panda.
 
-## Format
+## Layout
 
-- **Per-task LeRobot v3.0 datasets** — each task is a subdirectory with its own `meta/`, `data/`, `videos/`
-- **8D EEF**: xyz + quaternion (wxyz, scalar-first) + gripper
-- **State**: absolute pose (wxyz passthrough from PerAct)
-- **Action**: delta position + absolute quaternion (wxyz) + gripper
-- **2 cameras**: front view (`observation.images.front_rgb`) + wrist view (`observation.images.wrist_rgb`)
-- **18 tasks**, 100 episodes per task, ~374K total frames
-- Raw values; use `{task}/meta/norm_stats.json` for per-task stats
+Each task is a self-contained LeRobot dataset in its own subdirectory
+(`close_jar/`, `insert_onto_square_peg/`, ...) with `meta/`, `data/`, and
+`videos/`. 100 episodes per task, ~374K frames total.
 
-## Task List
+## Observation and action convention
 
-close_jar, insert_onto_square_peg, light_bulb_in, meat_off_grill, open_drawer,
-place_cups, place_shape_in_shape_sorter, place_wine_at_rack_location, push_buttons,
-put_groceries_in_cupboard, put_item_in_drawer, put_money_in_safe, reach_and_drag,
-slide_block_to_color_target, stack_blocks, stack_cups, sweep_to_dustpan_of_size, turn_tap
-
-## Loading
+- `observation.state`: 8D end-effector pose — position xyz (metres) +
+  quaternion in scalar-first WXYZ order + gripper.
+- `action`: 8D absolute end-effector pose command. Row `t` stores the pose
+  that the *next* observation row `t+1` attains (next-observation-absolute
+  alignment). Episodes contain exactly `observations - 1` action rows, so no
+  terminal placeholder rows exist.
+- Gripper is binary: `0` = closed, `1` = open.
+- Cameras: `observation.images.head` (front view) and
+  `observation.images.wrist_right` (wrist view), 256x256 RGB.
 
-```python
-from lerobot.datasets import LeRobotDataset
+## Task list
 
-ds = LeRobotDataset("GT-111/rlbench_v3_eef/close_jar")
-# Or load locally after download:
-# ds = LeRobotDataset("GT-111/rlbench_v3_eef", revision="close_jar")
-```
+close_jar, insert_onto_square_peg, light_bulb_in, meat_off_grill, open_drawer,
+place_cups, place_shape_in_shape_sorter, place_wine_at_rack_location,
+push_buttons, put_groceries_in_cupboard, put_item_in_drawer, put_money_in_safe,
+reach_and_drag, slide_block_to_color_target, stack_blocks, stack_cups,
+sweep_to_dustpan_of_size, turn_tap
 
 ## Acknowledgments
 

close_jar/meta/info.json

@@ -1 +1 @@
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+{"chunks_size":1000,"codebase_version":"v3.0","data_path":"data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet","features":{"action":{"dtype":"float32","names":[["x","y","z","qw","qx","qy","qz","gripper"]],"shape":[8]},"episode_index":{"dtype":"int64","names":null,"shape":[1]},"frame_index":{"dtype":"int64","names":null,"shape":[1]},"index":{"dtype":"int64","names":null,"shape":[1]},"observation.images.head":{"dtype":"video","info":{"has_audio":false,"video.channels":3,"video.codec":"h264","video.fps":20,"video.height":128,"video.is_depth_map":false,"video.pix_fmt":"yuv444p","video.width":128},"shape":[128,128,3]},"observation.images.wrist_right":{"dtype":"video","info":{"has_audio":false,"video.channels":3,"video.codec":"h264","video.fps":20,"video.height":128,"video.is_depth_map":false,"video.pix_fmt":"yuv444p","video.width":128},"shape":[128,128,3]},"observation.state":{"dtype":"float32","names":[["x","y","z","qw","qx","qy","qz","gripper"]],"shape":[8]},"task_index":{"dtype":"int64","names":null,"shape":[1]},"timestamp":{"dtype":"float32","names":null,"shape":[1]}},"fps":20,"robot_type":"franka_panda","splits":{"train":"0:100"},"total_episodes":100,"total_frames":16522,"total_tasks":20,"video_path":"videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"}

close_jar/meta/stats.json

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insert_onto_square_peg/meta/info.json

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insert_onto_square_peg/meta/stats.json

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light_bulb_in/meta/info.json

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light_bulb_in/meta/stats.json

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meat_off_grill/meta/info.json

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meat_off_grill/meta/stats.json

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open_drawer/meta/info.json

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open_drawer/meta/stats.json

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place_cups/meta/info.json

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place_cups/meta/stats.json

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place_shape_in_shape_sorter/meta/info.json

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place_shape_in_shape_sorter/meta/stats.json

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place_wine_at_rack_location/meta/info.json

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place_wine_at_rack_location/meta/stats.json

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push_buttons/meta/stats.json

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put_groceries_in_cupboard/meta/info.json

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