Datasets:
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
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.images.cam_zed_left": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 30.0,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
},
"fps": 30.0,
"info": {
"video.extra_options": null,
"video.crf": null,
"video.preset": null,
"video.g": null,
"video.fast_decode": null,
"video.video_backend": "pyav"
}
},
"observation.images.cam_zed_right": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 30.0,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
},
"fps": 30.0,
"info": {
"video.extra_options": null,
"video.crf": null,
"video.preset": null,
"video.g": null,
"video.fast_decode": null,
"video.video_backend": "pyav"
}
},
"observation.state": {
"dtype": "float32",
"shape": [
48
],
"names": [
"left_wrist_pos_x",
"left_wrist_pos_y",
"left_wrist_pos_z",
"left_wrist_quat_x",
"left_wrist_quat_y",
"left_wrist_quat_z",
"left_wrist_quat_w",
"right_wrist_pos_x",
"right_wrist_pos_y",
"right_wrist_pos_z",
"right_wrist_quat_x",
"right_wrist_quat_y",
"right_wrist_quat_z",
"right_wrist_quat_w",
"left_forearm_quat_x",
"left_forearm_quat_y",
"left_forearm_quat_z",
"left_forearm_quat_w",
"right_forearm_quat_x",
"right_forearm_quat_y",
"right_forearm_quat_z",
"right_forearm_quat_w",
"neck_quat_x",
"neck_quat_y",
"neck_quat_z",
"neck_quat_w",
"left_ability_hand_index_q1",
"left_ability_hand_index_q2",
"left_ability_hand_middle_q1",
"left_ability_hand_middle_q2",
"left_ability_hand_ring_q1",
"left_ability_hand_ring_q2",
"left_ability_hand_pinky_q1",
"left_ability_hand_pinky_q2",
"left_ability_hand_thumb_q1",
"left_ability_hand_thumb_q2",
"right_ability_hand_index_q1",
"right_ability_hand_index_q2",
"right_ability_hand_middle_q1",
"right_ability_hand_middle_q2",
"right_ability_hand_ring_q1",
"right_ability_hand_ring_q2",
"right_ability_hand_pinky_q1",
"right_ability_hand_pinky_q2",
"right_ability_hand_thumb_q1",
"right_ability_hand_thumb_q2",
"spine_z",
"spine_y"
],
"fps": 30.0
},
"action": {
"dtype": "float32",
"shape": [
46
],
"names": [
"left_wrist_pos_x",
"left_wrist_pos_y",
"left_wrist_pos_z",
"left_wrist_quat_x",
"left_wrist_quat_y",
"left_wrist_quat_z",
"left_wrist_quat_w",
"right_wrist_pos_x",
"right_wrist_pos_y",
"right_wrist_pos_z",
"right_wrist_quat_x",
"right_wrist_quat_y",
"right_wrist_quat_z",
"right_wrist_quat_w",
"left_forearm_quat_x",
"left_forearm_quat_y",
"left_forearm_quat_z",
"left_forearm_quat_w",
"right_forearm_quat_x",
"right_forearm_quat_y",
"right_forearm_quat_z",
"right_forearm_quat_w",
"neck_quat_x",
"neck_quat_y",
"neck_quat_z",
"neck_quat_w",
"left_ability_hand_index_q1",
"left_ability_hand_index_q2",
"left_ability_hand_middle_q1",
"left_ability_hand_middle_q2",
"left_ability_hand_ring_q1",
"left_ability_hand_ring_q2",
"left_ability_hand_pinky_q1",
"left_ability_hand_pinky_q2",
"left_ability_hand_thumb_q1",
"left_ability_hand_thumb_q2",
"right_ability_hand_index_q1",
"right_ability_hand_index_q2",
"right_ability_hand_middle_q1",
"right_ability_hand_middle_q2",
"right_ability_hand_ring_q1",
"right_ability_hand_ring_q2",
"right_ability_hand_pinky_q1",
"right_ability_hand_pinky_q2",
"right_ability_hand_thumb_q1",
"right_ability_hand_thumb_q2"
],
"fps": 30.0
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"next.done": {
"dtype": "bool",
"shape": [
1
],
"fps": 30.0
}
},
"total_episodes": 140,
"total_frames": 15073,
"total_tasks": 2,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"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",
"robot_type": "alex_ability_hands",
"splits": {
"train": "0:140"
}
}
Citation
BibTeX:
[More Information Needed]