34 episodes · 10 fps · 2 cameras · 240×240 av1
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"fps": 10,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
8
],
"names": [
"joint_positions_0",
"joint_positions_1",
"joint_positions_2",
"joint_positions_3",
"joint_positions_4",
"joint_positions_5",
"joint_positions_6",
"gripper_position_0"
]
},
"action": {
"dtype": "float32",
"shape": [
8
],
"names": [
"joint_position_0",
"joint_position_1",
"joint_position_2",
"joint_position_3",
"joint_position_4",
"joint_position_5",
"joint_position_6",
"gripper_position"
]
},
"reward": {
"dtype": "float32",
"shape": [
1
],
"names": [
"reward"
]
},
"done": {
"dtype": "float32",
"shape": [
1
],
"names": [
"done"
]
},
"success": {
"dtype": "float32",
"shape": [
1
],
"names": [
"success"
]
},
"observation.joint_positions": {
"dtype": "float32",
"shape": [
7
],
"names": [
"joint_positions_0",
"joint_positions_1",
"joint_positions_2",
"joint_positions_3",
"joint_positions_4",
"joint_positions_5",
"joint_positions_6"
]
},
"observation.joint_velocities": {
"dtype": "float32",
"shape": [
7
],
"names": [
"joint_velocities_0",
"joint_velocities_1",
"joint_velocities_2",
"joint_velocities_3",
"joint_velocities_4",
"joint_velocities_5",
"joint_velocities_6"
]
},
"observation.cartesian_position": {
"dtype": "float32",
"shape": [
6
],
"names": [
"cartesian_position_0",
"cartesian_position_1",
"cartesian_position_2",
"cartesian_position_3",
"cartesian_position_4",
"cartesian_position_5"
]
},
"observation.gripper_position": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper_position_0"
]
},
"observation.images.wrist_left": {
"dtype": "video",
"shape": [
240,
240,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 240,
"video.width": 240,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 10,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {},
"is_depth_map": false
}
},
"observation.images.side_view_1_left": {
"dtype": "video",
"shape": [
240,
240,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 240,
"video.width": 240,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 10,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {},
"is_depth_map": 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
}
},
"total_episodes": 34,
"total_frames": 7997,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 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",
"robot_type": "franka",
"splits": {
"train": "0:34"
}
}
Citation
BibTeX:
[More Information Needed]
- Downloads last month
- 25