| license: apache-2.0 | |
| task_categories: | |
| - robotics | |
| tags: | |
| - LeRobot | |
| configs: | |
| - config_name: default | |
| data_files: data/*/*.parquet | |
| 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": 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:** | |
| ```bibtex | |
| [More Information Needed] | |
| ``` |