diff --git a/README.md b/README.md index 0a34dfb031703f6999752623087d1a6aa2f3b36b..74155726289694e7b4b2e57867c56e4cedd33d1f 100644 --- a/README.md +++ b/README.md @@ -1,481 +1,26 @@ --- -license: apache-2.0 -task_categories: -- robotics tags: - LeRobot -configs: -- config_name: default - data_files: data/*/*.parquet +- droid +task_categories: +- robotics --- -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": "Franka", - "total_episodes": 95658, - "total_frames": 27630375, - "total_tasks": 49630, - "chunks_size": 1000, - "data_files_size_in_mb": 100, - "video_files_size_in_mb": 500, - "fps": 15, - "splits": { - "train": "0:95658" - }, - "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": { - "is_first": { - "dtype": "bool", - "shape": [ - 1 - ], - "names": null - }, - "is_last": { - "dtype": "bool", - "shape": [ - 1 - ], - "names": null - }, - "is_terminal": { - "dtype": "bool", - "shape": [ - 1 - ], - "names": null - }, - "language_instruction": { - "dtype": "string", - "shape": [ - 1 - ], - "names": null - }, - "language_instruction_2": { - "dtype": "string", - "shape": [ - 1 - ], - "names": null - }, - "language_instruction_3": { - "dtype": "string", - "shape": [ - 1 - ], - "names": null - }, - "observation.state.gripper_position": { - "dtype": "float32", - "shape": [ - 1 - ], - "names": { - "axes": [ - "gripper" - ] - } - }, - "observation.state.cartesian_position": { - "dtype": "float32", - "shape": [ - 6 - ], - "names": { - "axes": [ - "x", - "y", - "z", - "roll", - "pitch", - "yaw" - ] - } - }, - "observation.state.joint_position": { - "dtype": "float32", - "shape": [ - 7 - ], - "names": { - "axes": [ - "joint_0", - "joint_1", - "joint_2", - "joint_3", - "joint_4", - "joint_5", - "joint_6" - ] - } - }, - "observation.state": { - "dtype": "float32", - "shape": [ - 8 - ], - "names": { - "axes": [ - "joint_0", - "joint_1", - "joint_2", - "joint_3", - "joint_4", - "joint_5", - "joint_6", - "gripper" - ] - } - }, - "observation.images.wrist_left": { - "dtype": "video", - "shape": [ - 180, - 320, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 180, - "video.width": 320, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 15, - "video.channels": 3, - "has_audio": false - } - }, - "observation.images.exterior_1_left": { - "dtype": "video", - "shape": [ - 180, - 320, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 180, - "video.width": 320, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 15, - "video.channels": 3, - "has_audio": false - } - }, - "observation.images.exterior_2_left": { - "dtype": "video", - "shape": [ - 180, - 320, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 180, - "video.width": 320, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 15, - "video.channels": 3, - "has_audio": false - } - }, - "action.gripper_position": { - "dtype": "float32", - "shape": [ - 1 - ], - "names": { - "axes": [ - "gripper" - ] - } - }, - "action.gripper_velocity": { - "dtype": "float32", - "shape": [ - 1 - ], - "names": { - "axes": [ - "gripper" - ] - } - }, - "action.cartesian_position": { - "dtype": "float32", - "shape": [ - 6 - ], - "names": { - "axes": [ - "x", - "y", - "z", - "roll", - "pitch", - "yaw" - ] - } - }, - "action.cartesian_velocity": { - "dtype": "float32", - "shape": [ - 6 - ], - "names": { - "axes": [ - "x", - "y", - "z", - "roll", - "pitch", - "yaw" - ] - } - }, - "action.joint_position": { - "dtype": "float32", - "shape": [ - 7 - ], - "names": { - "axes": [ - "joint_0", - "joint_1", - "joint_2", - "joint_3", - "joint_4", - "joint_5", - "joint_6" - ] - } - }, - "action.joint_velocity": { - "dtype": "float32", - "shape": [ - 7 - ], - "names": { - "axes": [ - "joint_0", - "joint_1", - "joint_2", - "joint_3", - "joint_4", - "joint_5", - "joint_6" - ] - } - }, - "action.original": { - "dtype": "float32", - "shape": [ - 7 - ], - "names": { - "axes": [ - "x", - "y", - "z", - "roll", - "pitch", - "yaw", - "gripper" - ] - } - }, - "action": { - "dtype": "float32", - "shape": [ - 8 - ], - "names": { - "axes": [ - "joint_0", - "joint_1", - "joint_2", - "joint_3", - "joint_4", - "joint_5", - "joint_6", - "gripper" - ] - } - }, - "discount": { - "dtype": "float32", - "shape": [ - 1 - ], - "names": null - }, - "reward": { - "dtype": "float32", - "shape": [ - 1 - ], - "names": null - }, - "task_category": { - "dtype": "string", - "shape": [ - 1 - ], - "names": null - }, - "building": { - "dtype": "string", - "shape": [ - 1 - ], - "names": null - }, - "collector_id": { - "dtype": "string", - "shape": [ - 1 - ], - "names": null - }, - "date": { - "dtype": "string", - "shape": [ - 1 - ], - "names": null - }, - "camera_extrinsics.wrist_left": { - "dtype": "float32", - "shape": [ - 6 - ], - "names": { - "axes": [ - "x", - "y", - "z", - "roll", - "pitch", - "yaw" - ] - } - }, - "camera_extrinsics.exterior_1_left": { - "dtype": "float32", - "shape": [ - 6 - ], - "names": { - "axes": [ - "x", - "y", - "z", - "roll", - "pitch", - "yaw" - ] - } - }, - "camera_extrinsics.exterior_2_left": { - "dtype": "float32", - "shape": [ - 6 - ], - "names": { - "axes": [ - "x", - "y", - "z", - "roll", - "pitch", - "yaw" - ] - } - }, - "is_episode_successful": { - "dtype": "bool", - "shape": [ - 1 - ], - "names": null - }, - "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 - } - } -} -``` +# DROID 1.0.1 with delta-EE actions and gripper-event timings +`lerobot/droid_1.0.1` with five added per-frame features: -## Citation +- `action.delta_ee` — `[x, y, z, roll, pitch, yaw, gripper]` (float32): per-step + delta EE command: position delta of `action.cartesian_position` vs + `observation.state.cartesian_position`, and the relative rotation + `R_cmd * R_state^-1` (world frame) as extrinsic-xyz Euler (gimbal-safe, unlike + elementwise rpy subtraction); gripper is the absolute command (0..1, 1 = close). +- `observation.gripper.time_to_close` / `time_to_open` — hindsight seconds until the + gripper command next flips (threshold 0.5, runs < 3 steps debounced). +- `observation.gripper.time_since_close` / `time_since_open` — seconds since the + previous flip. Frames with no such flip in the episode hold the sentinel `10000`. -**BibTeX:** +The `delta-ee` branch additionally swaps the flat `action` column to the delta-EE +values (joint-position actions live on `main`). -```bibtex -[More Information Needed] -``` \ No newline at end of file +Generated by `lerobot_policy_framepick/scripts/augment_droid_delta_ee_gripper_events.py`. diff --git a/data/chunk-000/file-000.parquet b/data/chunk-000/file-000.parquet index d2d271906388bf86024b638acb75773a441e92ee..a7b2de88ddd04ee47ee968bc66814d280503c486 100644 --- a/data/chunk-000/file-000.parquet +++ b/data/chunk-000/file-000.parquet @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:72b4f5f7df1ecb8eac8313ecfab417eb4a5dbf6ffb7104acbce373725c322dc3 -size 85916979 +oid sha256:9dc74e07e75725e2f6bfd4dbe962ee3bf858ecff917c3faa8f124aeedf31d804 +size 93951372 diff --git a/data/chunk-000/file-001.parquet b/data/chunk-000/file-001.parquet index 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