metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- INSIGHT
- robotics
- ' manipulation'
- guide
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": "v3.0",
"robot_type": "franka_panda",
"total_episodes": 5647,
"total_frames": 246793,
"total_tasks": 13,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:5647"
},
"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": {
"observation.state": {
"dtype": "float32",
"shape": [
32
],
"names": [
"ee_x",
"ee_y",
"ee_z",
"ee_qw",
"ee_qx",
"ee_qy",
"ee_qz",
"j1",
"j2",
"j3",
"j4",
"j5",
"j6",
"j7",
"gripper_1",
"gripper_2"
],
"fps": 10
},
"observation.images.wrist": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.wrist_semantic": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left_shoulder": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left_shoulder_semantic": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right_shoulder": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right_shoulder_semantic": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.guide": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.guide_semantic": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"action": {
"dtype": "float32",
"shape": [
32
],
"names": [
"pos_x",
"pos_y",
"pos_z",
"aa_x",
"aa_y",
"aa_z",
"gripper"
],
"fps": 10
},
"next.reward": {
"dtype": "float32",
"shape": [
1
],
"names": [
"reward"
],
"fps": 10
},
"action.skill_id": {
"dtype": "int32",
"shape": [
1
],
"names": [
"skill_id"
],
"fps": 10
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null,
"fps": 10
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 10
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 10
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 10
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 10
}
},
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500
}
Citation
BibTeX:
[More Information Needed]