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": 200,
"total_frames": 125272,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:200"
},
"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.images.wrist_left": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 224,
"video.width": 224,
"video.fps": 20,
"video.channels": 3,
"video.codec": "h264"
}
},
"observation.images.wrist_right": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 224,
"video.width": 224,
"video.fps": 20,
"video.channels": 3,
"video.codec": "h264"
}
},
"observation.images.scene_front": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 224,
"video.width": 224,
"video.fps": 20,
"video.channels": 3,
"video.codec": "h264"
}
},
"observation.images.scene_top": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 224,
"video.width": 224,
"video.fps": 20,
"video.channels": 3,
"video.codec": "h264"
}
},
"observation.state": {
"dtype": "float32",
"shape": [
30
],
"names": [
"q0",
"q1",
"q2",
"q3",
"q4",
"q5",
"q6",
"q7",
"q8",
"q9",
"q10",
"q11",
"q12",
"q13",
"qd0",
"qd1",
"qd2",
"qd3",
"qd4",
"qd5",
"qd6",
"qd7",
"qd8",
"qd9",
"qd10",
"qd11",
"qd12",
"qd13",
"g_left",
"g_right"
]
},
"observation.ee_pose": {
"dtype": "float32",
"shape": [
14
],
"names": [
"left_x",
"left_y",
"left_z",
"left_qw",
"left_qx",
"left_qy",
"left_qz",
"right_x",
"right_y",
"right_z",
"right_qw",
"right_qx",
"right_qy",
"right_qz"
]
},
"action.joint_position": {
"dtype": "float32",
"shape": [
14
],
"names": [
"joint_target_0",
"joint_target_1",
"joint_target_2",
"joint_target_3",
"joint_target_4",
"joint_target_5",
"joint_target_6",
"joint_target_7",
"joint_target_8",
"joint_target_9",
"joint_target_10",
"joint_target_11",
"joint_target_12",
"joint_target_13"
]
},
"action.ee_delta": {
"dtype": "float32",
"shape": [
12
],
"names": [
"left_dx",
"left_dy",
"left_dz",
"left_drx",
"left_dry",
"left_drz",
"right_dx",
"right_dy",
"right_dz",
"right_drx",
"right_dry",
"right_drz"
]
},
"metadata.demonstrator_id": {
"dtype": "string",
"shape": [
1
],
"names": [
"demonstrator_id"
]
},
"metadata.station_id": {
"dtype": "string",
"shape": [
1
],
"names": [
"station_id"
]
},
"metadata.task_variant": {
"dtype": "string",
"shape": [
1
],
"names": [
"task_variant"
]
},
"metadata.towel_id": {
"dtype": "string",
"shape": [
1
],
"names": [
"towel_id"
]
},
"metadata.lighting": {
"dtype": "string",
"shape": [
1
],
"names": [
"lighting"
]
},
"metadata.mat_id": {
"dtype": "string",
"shape": [
1
],
"names": [
"mat_id"
]
},
"metadata.success": {
"dtype": "int64",
"shape": [
1
],
"names": [
"success"
]
},
"metadata.notes": {
"dtype": "string",
"shape": [
1
],
"names": [
"notes"
]
},
"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:
[More Information Needed]