Upload LeRobot v2.0 compatible dataset
Browse files- README.md +19 -0
- meta/episodes.json +9 -0
- meta/info.json +51 -0
- meta/stats.json +92 -0
- meta/tasks.json +3 -0
README.md
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---
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license: mit
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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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---
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# Robot Manipulation Dataset
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A LeRobot-compatible dataset for robot manipulation tasks.
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## Dataset Structure
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This dataset follows the LeRobot v2.0 format specification.
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## Usage
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meta/episodes.json
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[
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{
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"episode_index": 0,
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"tasks": [
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0
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],
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"length": 100
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}
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]
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meta/info.json
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@@ -0,0 +1,51 @@
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{
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"codebase_version": "v2.0",
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"data_path": "data/{episode_chunk}/{episode_index:06d}.parquet",
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"videos_path": "videos/{video_key}/{episode_chunk}/{episode_index:06d}.mp4",
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"robot_type": "universal_robots_ur5",
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"total_episodes": 1,
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"total_frames": 100,
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"fps": 30,
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"splits": {
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"train": "0:1"
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},
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"keys": [
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"observation.image",
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"observation.state",
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"action"
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],
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"shapes": {
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"observation.image": [
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480,
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640,
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3
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],
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"observation.state": [
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6
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],
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"action": [
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6
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]
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},
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"names": {
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"observation.state": [
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"joint_1",
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"joint_2",
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"joint_3",
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"joint_4",
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"joint_5",
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"joint_6"
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],
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"action": [
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"joint_1",
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"joint_2",
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"joint_3",
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"joint_4",
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"joint_5",
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"joint_6"
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]
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},
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"videos": [
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"observation.image"
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]
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}
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meta/stats.json
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{
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"observation.image": {
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"min": [
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0.0,
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0.0,
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0.0
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],
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"max": [
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255.0,
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255.0,
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255.0
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],
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"mean": [
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127.5,
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127.5,
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127.5
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],
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"std": [
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50.0,
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50.0,
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50.0
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]
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},
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"observation.state": {
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"min": [
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-3.14,
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-3.14,
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-3.14,
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-3.14,
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-3.14,
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-3.14
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],
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"max": [
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3.14,
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3.14,
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3.14,
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3.14,
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3.14,
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3.14
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],
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"mean": [
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0.0,
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0.0,
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0.0,
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0.0,
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0.0,
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0.0
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],
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"std": [
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1.0,
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1.0,
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1.0,
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1.0,
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1.0,
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1.0
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]
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},
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"action": {
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"min": [
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-3.14,
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-3.14,
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-3.14,
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-3.14,
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-3.14,
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-3.14
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],
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"max": [
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3.14,
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3.14,
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3.14,
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3.14,
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3.14,
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3.14
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],
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"mean": [
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0.0,
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0.0,
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0.0,
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0.0,
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0.0,
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0.0
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"std": [
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1.0,
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1.0,
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1.0,
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| 89 |
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1.0
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]
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}
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}
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meta/tasks.json
ADDED
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{
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"0": "Pick and place task"
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}
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