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Datasets:
Pi-robot
/
place_blue_bottle_split

Tasks:
Robotics
Modalities:
Image
Time-series
Video
Formats:
parquet
Size:
100K - 1M
Tags:
LeRobot
Libraries:
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License:
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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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+
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+ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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+
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+ ## Dataset Description
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+
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+
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+
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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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+
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+ ## Dataset Structure
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+
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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": "v2.1",
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+ "robot_type": "a2d",
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+ "total_episodes": 325,
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+ "total_frames": 183325,
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+ "total_tasks": 4,
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+ "total_videos": 975,
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+ "total_chunks": 1,
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+ "chunks_size": 1000,
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+ "fps": 25,
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+ "splits": {
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+ "train": "0:325"
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+ },
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+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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+ "features": {
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+ "action": {
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+ "dtype": "float32",
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+ "shape": [
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+ 16
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+ ],
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+ "names": [
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+ "left_shoulder_roll",
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+ "left_shoulder_pitch",
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+ "left_shoulder_yaw",
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+ "left_elbow_pitch",
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+ "left_wrist_roll",
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+ "left_wrist_pitch",
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+ "left_wrist_yaw",
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+ "right_shoulder_roll",
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+ "right_shoulder_pitch",
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+ "right_shoulder_yaw",
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+ "right_elbow_pitch",
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+ "right_wrist_roll",
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+ "right_wrist_pitch",
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+ "right_wrist_yaw",
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+ "left_gripper",
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+ "right_gripper"
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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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+ 16
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+ ],
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+ "names": [
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+ "left_shoulder_roll",
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+ "left_shoulder_pitch",
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+ "left_shoulder_yaw",
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+ "left_elbow_pitch",
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+ "left_wrist_roll",
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+ "left_wrist_pitch",
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+ "left_wrist_yaw",
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+ "right_shoulder_roll",
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+ "right_shoulder_pitch",
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+ "right_shoulder_yaw",
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+ "right_elbow_pitch",
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+ "right_wrist_roll",
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+ "right_wrist_pitch",
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+ "right_wrist_yaw",
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+ "left_gripper",
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+ "right_gripper"
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+ ]
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+ },
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+ "observation.force": {
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+ "dtype": "float32",
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+ "shape": [
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+ 12
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+ ],
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+ "names": [
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+ "left_force_x",
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+ "left_force_y",
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+ "left_force_z",
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+ "left_torque_x",
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+ "left_torque_y",
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+ "left_torque_z",
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+ "right_force_x",
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+ "right_force_y",
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+ "right_force_z",
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+ "right_torque_x",
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+ "right_torque_y",
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+ "right_torque_z"
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+ ]
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+ },
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+ "observation.ee_pose": {
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+ "dtype": "float32",
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+ "shape": [
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+ 12
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+ ],
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+ "names": [
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+ "left_ee_x",
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+ "left_ee_y",
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+ "left_ee_z",
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+ "left_ee_rx",
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+ "left_ee_ry",
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+ "left_ee_rz",
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+ "right_ee_x",
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+ "right_ee_y",
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+ "right_ee_z",
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+ "right_ee_rx",
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+ "right_ee_ry",
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+ "right_ee_rz"
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+ ]
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+ },
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+ "observation.images.head_color": {
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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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+ "channels"
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+ ],
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+ "info": {
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+ "video.fps": 25.0,
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+ "video.height": 480,
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+ "video.width": 640,
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+ "video.channels": 3,
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+ "video.codec": "h264",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "has_audio": false
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+ },
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+ "dtype": "video"
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+ },
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+ "observation.images.head_depth": {
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+ "shape": [
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+ 480,
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+ 640,
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+ 1
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "channels"
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+ ],
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+ "info": null,
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+ "dtype": "image"
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+ },
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+ "observation.images.hand_left_color": {
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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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+ "channels"
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+ ],
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+ "info": {
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+ "video.fps": 25.0,
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+ "video.height": 480,
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+ "video.width": 640,
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+ "video.channels": 3,
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+ "video.codec": "h264",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "has_audio": false
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+ },
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+ "dtype": "video"
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+ },
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+ "observation.images.hand_right_color": {
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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",
198
+ "width",
199
+ "channels"
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+ ],
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+ "info": {
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+ "video.fps": 25.0,
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+ "video.height": 480,
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+ "video.width": 640,
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+ "video.channels": 3,
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+ "video.codec": "h264",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "has_audio": false
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+ },
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+ "dtype": "video"
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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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+
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+
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+ ## Citation
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+
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+ **BibTeX:**
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+
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+ ```bibtex
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+ [More Information Needed]
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+ ```