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--- |
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license: apache-2.0 |
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task_categories: |
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- robotics |
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tags: |
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- LeRobot |
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configs: |
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- config_name: default |
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data_files: data/*/*.parquet |
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--- |
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This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
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## Dataset Description |
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- **Homepage:** [More Information Needed] |
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- **Paper:** [More Information Needed] |
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- **License:** apache-2.0 |
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## Dataset Structure |
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[meta/info.json](meta/info.json): |
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```json |
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{ |
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"codebase_version": "v3.0", |
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"robot_type": "genie01", |
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"total_episodes": 200, |
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"total_frames": 40717, |
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"total_tasks": 1, |
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"chunks_size": 1000, |
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"data_files_size_in_mb": 100, |
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"video_files_size_in_mb": 200, |
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"fps": 30, |
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"splits": { |
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"train": "0:200" |
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}, |
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", |
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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", |
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"features": { |
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"observation.images.head": { |
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"dtype": "video", |
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"shape": [ |
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480, |
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640, |
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3 |
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], |
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"names": [ |
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"height", |
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"width", |
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"channel" |
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], |
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"info": { |
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"video.height": 480, |
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"video.width": 640, |
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"video.codec": "av1", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"video.fps": 30, |
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"video.channels": 3, |
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"has_audio": false |
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} |
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}, |
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"observation.images.hand_left": { |
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"dtype": "video", |
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"shape": [ |
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480, |
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640, |
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3 |
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], |
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"names": [ |
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"height", |
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"width", |
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"channel" |
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], |
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"info": { |
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"video.height": 480, |
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"video.width": 640, |
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"video.codec": "av1", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"video.fps": 30, |
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"video.channels": 3, |
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"has_audio": false |
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} |
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}, |
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"observation.images.hand_right": { |
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"dtype": "video", |
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"shape": [ |
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480, |
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640, |
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3 |
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], |
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"names": [ |
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"height", |
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"width", |
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"channel" |
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], |
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"info": { |
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"video.height": 480, |
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"video.width": 640, |
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"video.codec": "av1", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"video.fps": 30, |
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"video.channels": 3, |
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"has_audio": false |
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} |
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}, |
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"observation.state": { |
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"dtype": "float32", |
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"shape": [ |
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52 |
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], |
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"names": [ |
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"left_arm_0.pos", |
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"left_arm_1.pos", |
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"left_arm_2.pos", |
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"left_arm_3.pos", |
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"left_arm_4.pos", |
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"left_arm_5.pos", |
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"left_arm_6.pos", |
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"right_arm_0.pos", |
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"right_arm_1.pos", |
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"right_arm_2.pos", |
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"right_arm_3.pos", |
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"right_arm_4.pos", |
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"right_arm_5.pos", |
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"right_arm_6.pos", |
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"left_gripper.pos", |
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"right_gripper.pos", |
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"head.yaw", |
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"head.pitch", |
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"waist.pitch", |
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"waist.lift", |
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"left_arm.fx", |
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"left_arm.fy", |
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"left_arm.fz", |
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"left_arm.tx", |
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"left_arm.ty", |
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"left_arm.tz", |
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"right_arm.fx", |
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"right_arm.fy", |
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"right_arm.fz", |
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"right_arm.tx", |
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"right_arm.ty", |
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"right_arm.tz", |
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"left_arm.x", |
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"left_arm.y", |
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"left_arm.z", |
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"left_arm.roll", |
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"left_arm.pitch", |
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"left_arm.yaw", |
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"left_arm.qw", |
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"left_arm.qx", |
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"left_arm.qy", |
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"left_arm.qz", |
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"right_arm.x", |
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"right_arm.y", |
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"right_arm.z", |
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"right_arm.roll", |
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"right_arm.pitch", |
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"right_arm.yaw", |
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"right_arm.qw", |
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"right_arm.qx", |
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"right_arm.qy", |
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"right_arm.qz" |
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] |
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}, |
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"action": { |
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"dtype": "float32", |
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"shape": [ |
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40 |
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], |
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"names": [ |
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"left_arm_0.pos", |
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"left_arm_1.pos", |
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"left_arm_2.pos", |
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"left_arm_3.pos", |
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"left_arm_4.pos", |
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"left_arm_5.pos", |
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"left_arm_6.pos", |
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"right_arm_0.pos", |
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"right_arm_1.pos", |
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"right_arm_2.pos", |
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"right_arm_3.pos", |
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"right_arm_4.pos", |
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"right_arm_5.pos", |
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"right_arm_6.pos", |
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"left_gripper.pos", |
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"right_gripper.pos", |
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"head.yaw", |
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"head.pitch", |
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"waist.pitch", |
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"waist.lift", |
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"left_arm.x", |
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"left_arm.y", |
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"left_arm.z", |
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"left_arm.roll", |
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"left_arm.pitch", |
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"left_arm.yaw", |
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"left_arm.qw", |
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"left_arm.qx", |
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"left_arm.qy", |
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"left_arm.qz", |
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"right_arm.x", |
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"right_arm.y", |
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"right_arm.z", |
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"right_arm.roll", |
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"right_arm.pitch", |
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"right_arm.yaw", |
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"right_arm.qw", |
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"right_arm.qx", |
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"right_arm.qy", |
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"right_arm.qz" |
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] |
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}, |
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"timestamp": { |
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"dtype": "float32", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"frame_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"episode_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"task_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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} |
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} |
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} |
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``` |
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## Citation |
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**BibTeX:** |
|
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```bibtex |
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[More Information Needed] |
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``` |
