| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
|
|
| ## Dataset Description |
|
|
|
|
|
|
| - **Homepage:** [More Information Needed] |
| - **Paper:** [More Information Needed] |
| - **License:** apache-2.0 |
|
|
| ## Dataset Structure |
|
|
| [meta/info.json](meta/info.json): |
| ```json |
| { |
| "codebase_version": "v3.0", |
| "robot_type": "so101_follower", |
| "total_episodes": 32, |
| "total_frames": 2849, |
| "total_tasks": 2, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "fps": 10, |
| "splits": { |
| "train": "0:32" |
| }, |
| "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", |
| "features": { |
| "action": { |
| "dtype": "float32", |
| "names": [ |
| "ee.x", |
| "ee.y", |
| "ee.z", |
| "ee.wx", |
| "ee.wy", |
| "ee.wz", |
| "ee.gripper_pos" |
| ], |
| "shape": [ |
| 7 |
| ] |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "names": [ |
| "ee.gripper_pos", |
| "ee.wx", |
| "ee.wy", |
| "ee.wz", |
| "ee.x", |
| "ee.y", |
| "ee.z" |
| ], |
| "shape": [ |
| 7 |
| ] |
| }, |
| "observation.images.front": { |
| "dtype": "video", |
| "shape": [ |
| 256, |
| 256, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 256, |
| "video.width": 256, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 10, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.vfm_features.front": { |
| "dtype": "float32", |
| "shape": [ |
| 16, |
| 16, |
| 768 |
| ], |
| "names": null |
| }, |
| "observation.skill_feature": { |
| "dtype": "float32", |
| "shape": [ |
| 1024 |
| ], |
| "names": null |
| }, |
| "observation.object_feature": { |
| "dtype": "float32", |
| "shape": [ |
| 1024 |
| ], |
| "names": null |
| }, |
| "observation.full_text_features": { |
| "dtype": "float32", |
| "shape": [ |
| 77, |
| 1024 |
| ], |
| "names": null |
| }, |
| "observation.vlm_features.front": { |
| "dtype": "float32", |
| "shape": [ |
| 16, |
| 16, |
| 1024 |
| ], |
| "names": null |
| }, |
| "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:** |
|
|
| ```bibtex |
| [More Information Needed] |
| ``` |
