--- license: apache-2.0 task_categories: - robotics tags: - LeRobot - robotics - manipulation 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", "fps": 30, "features": { "actions": { "dtype": "float32", "shape": [ 8 ] }, "observations.cameras.center_cam_depth": { "dtype": "video", "shape": [ 480, 640, 1 ], "names": [ "height", "width", "depth" ], "info": { "video.height": 480, "video.width": 640, "video.fps": 30, "has_audio": false, "video.depth_min": 0.01, "video.depth_max": 10.0, "depth_unit": "m", "video.codec": "hevc", "video.pix_fmt": "gray12le", "video.channels": 1, "video.g": 2, "video.crf": 30, "video.preset": null, "video.fast_decode": 0, "video.video_backend": "pyav", "video.extra_options": { "x265-params": "lossless=1" }, "video.shift": 3.5, "video.use_log": true, "is_depth_map": true } }, "observations.cameras.center_cam_rgb": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.pix_fmt": "yuv420p", "video.fps": 30, "video.channels": 3, "has_audio": false, "video.codec": "av1", "video.g": 2, "video.crf": 30, "video.preset": 12, "video.fast_decode": 0, "video.video_backend": "pyav", "video.extra_options": {}, "is_depth_map": false } }, "observations.cameras.hand_cam_depth": { "dtype": "video", "shape": [ 480, 640, 1 ], "names": [ "height", "width", "depth" ], "info": { "video.height": 480, "video.width": 640, "video.fps": 30, "has_audio": false, "video.depth_min": 0.01, "video.depth_max": 10.0, "depth_unit": "m", "video.codec": "hevc", "video.pix_fmt": "gray12le", "video.channels": 1, "video.g": 2, "video.crf": 30, "video.preset": null, "video.fast_decode": 0, "video.video_backend": "pyav", "video.extra_options": { "x265-params": "lossless=1" }, "video.shift": 3.5, "video.use_log": true, "is_depth_map": true } }, "observations.cameras.hand_cam_rgb": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.pix_fmt": "yuv420p", "video.fps": 30, "video.channels": 3, "has_audio": false, "video.codec": "av1", "video.g": 2, "video.crf": 30, "video.preset": 12, "video.fast_decode": 0, "video.video_backend": "pyav", "video.extra_options": {}, "is_depth_map": false } }, "observations.cameras.tactile_depth_L": { "dtype": "video", "shape": [ 320, 240, 1 ], "names": [ "height", "width", "depth" ], "info": { "video.height": 320, "video.width": 240, "video.fps": 30, "has_audio": false, "video.depth_min": 0.01, "video.depth_max": 10.0, "depth_unit": "m", "video.codec": "hevc", "video.pix_fmt": "gray12le", "video.channels": 1, "video.g": 2, "video.crf": 30, "video.preset": null, "video.fast_decode": 0, "video.video_backend": "pyav", "video.extra_options": { "x265-params": "lossless=1" }, "video.shift": 3.5, "video.use_log": true, "is_depth_map": true } }, "observations.cameras.tactile_depth_R": { "dtype": "video", "shape": [ 320, 240, 1 ], "names": [ "height", "width", "depth" ], "info": { "video.height": 320, "video.width": 240, "video.fps": 30, "has_audio": false, "video.depth_min": 0.01, "video.depth_max": 10.0, "depth_unit": "m", "video.codec": "hevc", "video.pix_fmt": "gray12le", "video.channels": 1, "video.g": 2, "video.crf": 30, "video.preset": null, "video.fast_decode": 0, "video.video_backend": "pyav", "video.extra_options": { "x265-params": "lossless=1" }, "video.shift": 3.5, "video.use_log": true, "is_depth_map": true } }, "observations.cameras.tactile_rgb_L": { "dtype": "video", "shape": [ 320, 240, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 320, "video.width": 240, "video.pix_fmt": "yuv420p", "video.fps": 30, "video.channels": 3, "has_audio": false, "video.codec": "av1", "video.g": 2, "video.crf": 30, "video.preset": 12, "video.fast_decode": 0, "video.video_backend": "pyav", "video.extra_options": {}, "is_depth_map": false } }, "observations.cameras.tactile_rgb_R": { "dtype": "video", "shape": [ 320, 240, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 320, "video.width": 240, "video.pix_fmt": "yuv420p", "video.fps": 30, "video.channels": 3, "has_audio": false, "video.codec": "av1", "video.g": 2, "video.crf": 30, "video.preset": 12, "video.fast_decode": 0, "video.video_backend": "pyav", "video.extra_options": {}, "is_depth_map": false } }, "observations.labels.is_obj_active": { "dtype": "bool", "shape": [ 20 ] }, "observations.labels.is_obj_dropped": { "dtype": "bool", "shape": [ 20 ] }, "observations.labels.is_obj_grasped": { "dtype": "bool", "shape": [ 20 ] }, "observations.labels.is_obj_in_bowl_0": { "dtype": "bool", "shape": [ 20 ] }, "observations.labels.is_obj_in_bowl_1": { "dtype": "bool", "shape": [ 20 ] }, "observations.labels.is_obj_lifted": { "dtype": "bool", "shape": [ 20 ] }, "observations.labels.what_was_grasped": { "dtype": "int64", "shape": [ 1 ] }, "observations.policy.actions": { "dtype": "float32", "shape": [ 8 ] }, "observations.policy.eef_pos": { "dtype": "float32", "shape": [ 3 ] }, "observations.policy.eef_quat": { "dtype": "float32", "shape": [ 4 ] }, "observations.policy.gripper_pos": { "dtype": "float32", "shape": [ 2 ] }, "observations.policy.joint_pos": { "dtype": "float32", "shape": [ 6 ] }, "observations.policy.joint_vel": { "dtype": "float32", "shape": [ 6 ] }, "observations.policy.object_pose_w": { "dtype": "float32", "shape": [ 20, 7 ] }, "observations.script.gripper_target": { "dtype": "float32", "shape": [ 1 ] }, "observations.script.motion_state": { "dtype": "int32", "shape": [ 1 ] }, "observations.script.se3_target": { "dtype": "float32", "shape": [ 7 ] }, "observations.script.target_obj_idx": { "dtype": "int64", "shape": [ 1 ] }, "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": 100, "total_frames": 54221, "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": null, "splits": { "train": "0:100" } } ``` ## Citation **BibTeX:** ```bibtex [More Information Needed] ```