Datasets:
metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- Oakink2
- bi-manual
- rlds
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": "v2.1",
"robot_type": "bi-manual",
"total_episodes": 1217,
"total_frames": 20082,
"total_tasks": 307,
"total_videos": 0,
"total_chunks": 2,
"chunks_size": 1000,
"fps": 5,
"splits": {
"train": "0:1217"
},
"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": {
"image": {
"dtype": "image",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
]
},
"joint_state": {
"dtype": "float32",
"shape": [
36
],
"names": [
"state"
]
},
"next_joint_state": {
"dtype": "float32",
"shape": [
36
],
"names": [
"state"
]
},
"actions": {
"dtype": "float32",
"shape": [
36
],
"names": [
"actions"
]
},
"sequence_name": {
"dtype": "int32",
"shape": [
100
],
"names": [
"word"
]
},
"timestamp_ns": {
"dtype": "int64",
"shape": [
1
],
"names": [
"t"
]
},
"next_timestamp_ns": {
"dtype": "int64",
"shape": [
1
],
"names": [
"t"
]
},
"extrinsics": {
"dtype": "float32",
"shape": [
4,
4
],
"names": [
"x",
"y"
]
},
"intrinsics": {
"dtype": "float32",
"shape": [
3,
3
],
"names": [
"x",
"y"
]
},
"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:
[More Information Needed]