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": 1025,
"total_frames": 218858,
"total_tasks": 1,
"chunks_size": 10000,
"data_files_size_in_mb": 10000,
"video_files_size_in_mb": 20000,
"fps": 20,
"splits": {
"train": "0:1025"
},
"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": {
"reward": {
"dtype": "float32",
"shape": [
1
]
},
"done": {
"dtype": "bool",
"shape": [
1
]
},
"observation.images.agentview": {
"dtype": "video",
"shape": [
84,
84,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 84,
"video.width": 84,
"video.channels": 3
}
},
"observation.images.robot0_eye_in_hand": {
"dtype": "video",
"shape": [
84,
84,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 84,
"video.width": 84,
"video.channels": 3
}
},
"observation.images.robot1_eye_in_hand": {
"dtype": "video",
"shape": [
84,
84,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 84,
"video.width": 84,
"video.channels": 3
}
},
"observation.state": {
"dtype": "float32",
"shape": [
18
],
"names": [
"robot0_eef_pos_x",
"robot0_eef_pos_y",
"robot0_eef_pos_z",
"robot0_eef_quat_x",
"robot0_eef_quat_y",
"robot0_eef_quat_z",
"robot0_eef_quat_w",
"robot0_gripper_qpos_0",
"robot0_gripper_qpos_1",
"robot1_eef_pos_x",
"robot1_eef_pos_y",
"robot1_eef_pos_z",
"robot1_eef_quat_x",
"robot1_eef_quat_y",
"robot1_eef_quat_z",
"robot1_eef_quat_w",
"robot1_gripper_qpos_0",
"robot1_gripper_qpos_1"
]
},
"action": {
"dtype": "float32",
"shape": [
14
],
"names": [
"right_dx",
"right_dy",
"right_dz",
"right_drx",
"right_dry",
"right_drz",
"right_gripper",
"left_dx",
"left_dy",
"left_dz",
"left_drx",
"left_dry",
"left_drz",
"left_gripper"
]
},
"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]