Datasets:
metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
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": null,
"total_episodes": 100,
"total_frames": 16893,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:100",
"val_fraction": 0.1,
"val_seed": 42
},
"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": [
59
],
"names": [
"state_0",
"state_1",
"state_2",
"state_3",
"state_4",
"state_5",
"state_6",
"state_7",
"state_8",
"state_9",
"state_10",
"state_11",
"state_12",
"state_13",
"state_14",
"state_15",
"state_16",
"state_17",
"state_18",
"state_19",
"state_20",
"state_21",
"state_22",
"state_23",
"state_24",
"state_25",
"state_26",
"state_27",
"state_28",
"state_29",
"state_30",
"state_31",
"state_32",
"state_33",
"state_34",
"state_35",
"state_36",
"state_37",
"state_38",
"state_39",
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"state_44",
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"state_50",
"state_51",
"state_52",
"state_53",
"state_54",
"state_55",
"state_56",
"state_57",
"state_58"
]
},
"action": {
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"shape": [
59
],
"names": [
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"action_1",
"action_2",
"action_3",
"action_4",
"action_5",
"action_6",
"action_7",
"action_8",
"action_9",
"action_10",
"action_11",
"action_12",
"action_13",
"action_14",
"action_15",
"action_16",
"action_17",
"action_18",
"action_19",
"action_20",
"action_21",
"action_22",
"action_23",
"action_24",
"action_25",
"action_26",
"action_27",
"action_28",
"action_29",
"action_30",
"action_31",
"action_32",
"action_33",
"action_34",
"action_35",
"action_36",
"action_37",
"action_38",
"action_39",
"action_40",
"action_41",
"action_42",
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"action_44",
"action_45",
"action_46",
"action_47",
"action_48",
"action_49",
"action_50",
"action_51",
"action_52",
"action_53",
"action_54",
"action_55",
"action_56",
"action_57",
"action_58"
]
},
"observation.images.cam_left": {
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"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.cam_right": {
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"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.cam_wrist_left": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.cam_wrist_right": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
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"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
[More Information Needed]