| | --- |
| | license: apache-2.0 |
| | task_categories: |
| | - robotics |
| | tags: |
| | - LeRobot |
| | - libero |
| | - panda |
| | - rlds |
| | 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": "v2.1", |
| | "robot_type": "fr3", |
| | "total_episodes": 20, |
| | "total_frames": 8579, |
| | "total_tasks": 1, |
| | "total_videos": 40, |
| | "total_chunks": 1, |
| | "chunks_size": 1000, |
| | "fps": 15, |
| | "splits": { |
| | "train": "0:20" |
| | }, |
| | "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", |
| | "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", |
| | "features": { |
| | "observation.images.exterior_image_1_left": { |
| | "dtype": "video", |
| | "shape": [ |
| | 720, |
| | 1280, |
| | 3 |
| | ], |
| | "names": [ |
| | "height", |
| | "width", |
| | "channels" |
| | ], |
| | "info": { |
| | "video.fps": 15.0, |
| | "video.height": 720, |
| | "video.width": 1280, |
| | "video.channels": 3, |
| | "video.codec": "av1", |
| | "video.pix_fmt": "yuv420p", |
| | "video.is_depth_map": false, |
| | "has_audio": false |
| | } |
| | }, |
| | "observation.images.wrist_image_left": { |
| | "dtype": "video", |
| | "shape": [ |
| | 720, |
| | 1280, |
| | 3 |
| | ], |
| | "names": [ |
| | "height", |
| | "width", |
| | "channels" |
| | ], |
| | "info": { |
| | "video.fps": 15.0, |
| | "video.height": 720, |
| | "video.width": 1280, |
| | "video.channels": 3, |
| | "video.codec": "av1", |
| | "video.pix_fmt": "yuv420p", |
| | "video.is_depth_map": false, |
| | "has_audio": false |
| | } |
| | }, |
| | "exterior_image_1_left": { |
| | "dtype": "image", |
| | "shape": [ |
| | 180, |
| | 320, |
| | 3 |
| | ], |
| | "names": [ |
| | "height", |
| | "width", |
| | "channel" |
| | ] |
| | }, |
| | "wrist_image_left": { |
| | "dtype": "image", |
| | "shape": [ |
| | 180, |
| | 320, |
| | 3 |
| | ], |
| | "names": [ |
| | "height", |
| | "width", |
| | "channel" |
| | ] |
| | }, |
| | "observation.state": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 8 |
| | ], |
| | "names": { |
| | "axes": [ |
| | "joint_0", |
| | "joint_1", |
| | "joint_2", |
| | "joint_3", |
| | "joint_4", |
| | "joint_5", |
| | "joint_6", |
| | "gripper" |
| | ] |
| | } |
| | }, |
| | "joint_position": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 7 |
| | ], |
| | "names": [ |
| | "joint_position" |
| | ] |
| | }, |
| | "gripper_position": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "gripper_position" |
| | ] |
| | }, |
| | "wrench": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 6 |
| | ], |
| | "names": [ |
| | "fx", |
| | "fy", |
| | "fz", |
| | "tx", |
| | "ty", |
| | "tz" |
| | ] |
| | }, |
| | "action.joint_position": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 7 |
| | ], |
| | "names": { |
| | "axes": [ |
| | "joint_0", |
| | "joint_1", |
| | "joint_2", |
| | "joint_3", |
| | "joint_4", |
| | "joint_5", |
| | "joint_6" |
| | ] |
| | } |
| | }, |
| | "action.joint_velocity": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 7 |
| | ], |
| | "names": { |
| | "axes": [ |
| | "joint_0", |
| | "joint_1", |
| | "joint_2", |
| | "joint_3", |
| | "joint_4", |
| | "joint_5", |
| | "joint_6" |
| | ] |
| | } |
| | }, |
| | "action.gripper_position": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": { |
| | "axes": [ |
| | "gripper" |
| | ] |
| | } |
| | }, |
| | "actions": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 8 |
| | ], |
| | "names": [ |
| | "actions" |
| | ] |
| | }, |
| | "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] |
| | ``` |
