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": "v2.1",
"robot_type": null,
"total_episodes": 50,
"total_frames": 11830,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:50"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": null,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
20
],
"names": {
"motors": [
"left_x",
"left_y",
"left_z",
"left_r6d_c1x",
"left_r6d_c1y",
"left_r6d_c1z",
"left_r6d_c2x",
"left_r6d_c2y",
"left_r6d_c2z",
"left_gripper",
"right_x",
"right_y",
"right_z",
"right_r6d_c1x",
"right_r6d_c1y",
"right_r6d_c1z",
"right_r6d_c2x",
"right_r6d_c2y",
"right_r6d_c2z",
"right_gripper"
]
}
},
"observation.images.front": {
"dtype": "image",
"shape": [
240,
320,
3
],
"names": [
"height",
"width",
"channels"
]
},
"observation.images.wrist_left": {
"dtype": "image",
"shape": [
240,
320,
3
],
"names": [
"height",
"width",
"channels"
]
},
"observation.images.wrist_right": {
"dtype": "image",
"shape": [
240,
320,
3
],
"names": [
"height",
"width",
"channels"
]
},
"action": {
"dtype": "float32",
"shape": [
23
],
"names": {
"motors": [
"left_x",
"left_y",
"left_z",
"left_r6d_c1x",
"left_r6d_c1y",
"left_r6d_c1z",
"left_r6d_c2x",
"left_r6d_c2y",
"left_r6d_c2z",
"left_gripper",
"right_x",
"right_y",
"right_z",
"right_r6d_c1x",
"right_r6d_c1y",
"right_r6d_c1z",
"right_r6d_c2x",
"right_r6d_c2y",
"right_r6d_c2z",
"right_gripper",
"cmd_vel_x",
"cmd_vel_y",
"cmd_vel_wz"
]
}
},
"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]