| --- |
| 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": "v2.1", |
| "robot_type": null, |
| "total_episodes": 48, |
| "total_frames": 12346, |
| "total_tasks": 1, |
| "total_videos": 0, |
| "total_chunks": 1, |
| "chunks_size": 1000, |
| "fps": 20, |
| "splits": { |
| "train": "0:48" |
| }, |
| "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", |
| "video_path": null, |
| "features": { |
| "observation.images.image": { |
| "dtype": "image", |
| "shape": [ |
| 256, |
| 256, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ] |
| }, |
| "observation.images.wrist_image": { |
| "dtype": "image", |
| "shape": [ |
| 256, |
| 256, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ] |
| }, |
| "observation.state.end_effector": { |
| "dtype": "float32", |
| "shape": [ |
| 8 |
| ], |
| "names": { |
| "motors": [ |
| "x", |
| "y", |
| "z", |
| "roll", |
| "pitch", |
| "yaw", |
| "gripper", |
| "gripper" |
| ] |
| } |
| }, |
| "observation.state.joint": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": { |
| "motors": [ |
| "joint_1", |
| "joint_2", |
| "joint_3", |
| "joint_4", |
| "joint_5", |
| "joint_6", |
| "joint_7" |
| ] |
| } |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": { |
| "motors": [ |
| "x", |
| "y", |
| "z", |
| "roll", |
| "pitch", |
| "yaw", |
| "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 |
| @article{romer2026clare, |
| title={CLARE: Continual Learning for Vision-Language-Action Models via Autonomous Adapter Routing and Expansion}, |
| author={Ralf R{\"o}mer and Yi Zhang and Angela P. Schoellig}, |
| journal={arXiv preprint arXiv:2601.09512} , |
| year={2026} |
| } |
| ``` |
