| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| configs: |
| - config_name: default |
| data_files: |
| - split: train |
| path: data/train-* |
| dataset_info: |
| features: |
| - name: observation.state |
| list: float32 |
| length: 9 |
| - name: observation.environment_state |
| list: float32 |
| length: 14 |
| - name: action |
| list: float32 |
| length: 7 |
| - name: steps_to_go |
| dtype: int64 |
| - name: source |
| dtype: int64 |
| - name: success |
| dtype: int64 |
| - name: is_valid |
| dtype: int64 |
| - name: reward |
| dtype: float32 |
| - name: done |
| dtype: int64 |
| - name: timestamp |
| dtype: float32 |
| - name: frame_index |
| dtype: int64 |
| - name: episode_index |
| dtype: int64 |
| - name: index |
| dtype: int64 |
| - name: task_index |
| dtype: int64 |
| splits: |
| - name: train |
| num_bytes: 4063400 |
| num_examples: 20317 |
| download_size: 3147095 |
| dataset_size: 4063400 |
| --- |
| |
| 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": "panda", |
| "total_episodes": 130, |
| "total_frames": 20317, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 500, |
| "fps": 20, |
| "splits": { |
| "train": "0:130" |
| }, |
| "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": [ |
| 9 |
| ], |
| "names": [ |
| "eef_pos_x", |
| "eef_pos_y", |
| "eef_pos_z", |
| "eef_quat_x", |
| "eef_quat_y", |
| "eef_quat_z", |
| "eef_quat_w", |
| "gripper_qpos_left", |
| "gripper_qpos_right" |
| ] |
| }, |
| "observation.environment_state": { |
| "dtype": "float32", |
| "shape": [ |
| 14 |
| ], |
| "names": [ |
| "can_to_eef_pos_x", |
| "can_to_eef_pos_y", |
| "can_to_eef_pos_z", |
| "can_to_eef_quat_x", |
| "can_to_eef_quat_y", |
| "can_to_eef_quat_z", |
| "can_to_eef_quat_w", |
| "can_pos_x", |
| "can_pos_y", |
| "can_pos_z", |
| "can_quat_x", |
| "can_quat_y", |
| "can_quat_z", |
| "can_quat_w" |
| ] |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "delta_eef_pos_x", |
| "delta_eef_pos_y", |
| "delta_eef_pos_z", |
| "delta_eef_rot_x", |
| "delta_eef_rot_y", |
| "delta_eef_rot_z", |
| "gripper_action" |
| ] |
| }, |
| "steps_to_go": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "steps_to_go" |
| ] |
| }, |
| "source": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "source_id" |
| ] |
| }, |
| "success": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "success_flag" |
| ] |
| }, |
| "is_valid": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "is_valid_flag" |
| ] |
| }, |
| "reward": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "reward" |
| ] |
| }, |
| "done": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "done_flag" |
| ] |
| }, |
| "observation.images.agentview": { |
| "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": 20, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.robot0_eye_in_hand": { |
| "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": 20, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "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] |
| ``` |
