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Datasets:
eunjuri
/
humanoid-everyday_v3

Tasks:
Robotics
Modalities:
Image
Time-series
Video
Formats:
parquet
Size:
100K - 1M
Tags:
LeRobot
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
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+ ---
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+ license: apache-2.0
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+ task_categories:
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+ - robotics
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+ tags:
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+ - LeRobot
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+ configs:
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+ - config_name: default
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+ data_files: data/*/*.parquet
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+ ---
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+
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+ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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+
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+ ## Dataset Description
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+
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+
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+
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+ - **Homepage:** [More Information Needed]
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+ - **Paper:** [More Information Needed]
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+ - **License:** apache-2.0
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+
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+ ## Dataset Structure
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+
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+ [meta/info.json](meta/info.json):
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+ ```json
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+ {
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+ "codebase_version": "v2.1",
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+ "robot_type": "Unitree_G1_Dex3",
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+ "total_episodes": 399,
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+ "total_frames": 145072,
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+ "total_tasks": 10,
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+ "total_videos": 399,
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+ "total_chunks": 1,
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+ "chunks_size": 1000,
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+ "fps": 30,
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+ "splits": {
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+ "train": "0:399"
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+ },
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+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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+ "features": {
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+ "observation.state": {
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+ "dtype": "float32",
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+ "shape": [
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+ 43
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+ ],
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+ "names": [
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+ "state_0",
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+ "state_1",
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+ "state_2",
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+ "state_3",
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+ "state_4",
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+ "state_5",
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+ "state_6",
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+ "state_7",
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+ "state_8",
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+ "state_9",
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+ "state_10",
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+ "state_11",
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+ "state_12",
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+ "state_13",
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+ "state_14",
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+ "state_15",
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+ "state_16",
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+ "state_17",
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+ "state_18",
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+ "state_19",
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+ "state_20",
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+ "state_21",
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+ "state_22",
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+ "state_23",
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+ "state_24",
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+ "state_25",
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+ "state_26",
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+ "state_27",
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+ "state_28",
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+ "state_29",
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+ "state_30",
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+ "state_31",
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+ "state_32",
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+ "state_33",
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+ "state_34",
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+ "state_35",
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+ "state_36",
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+ "state_37",
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+ "state_38",
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+ "state_39",
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+ "state_40",
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+ "state_41",
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+ "state_42"
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+ ]
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+ },
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+ "action": {
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+ "dtype": "float32",
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+ "shape": [
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+ 14
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+ ],
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+ "names": [
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+ "action_0",
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+ "action_1",
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+ "action_2",
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+ "action_3",
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+ "action_4",
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+ "action_5",
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+ "action_6",
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+ "action_7",
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+ "action_8",
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+ "action_9",
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+ "action_10",
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+ "action_11",
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+ "action_12",
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+ "action_13"
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+ ]
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+ },
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+ "observation.images.cam_left_high": {
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+ "dtype": "video",
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+ "shape": [
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+ 3,
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+ 480,
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+ 640
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+ ],
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+ "names": [
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+ "channels",
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+ "height",
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+ "width"
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+ ],
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+ "info": {
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+ "video.fps": 30.0,
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+ "video.height": 480,
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+ "video.width": 640,
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+ "video.channels": 3,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "has_audio": false
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+ }
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+ },
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+ "observation.images.tactile_1": {
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+ "dtype": "image",
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+ "shape": [
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+ 3,
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+ 2,
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+ 2
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+ ],
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+ "names": [
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+ "channels",
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+ "height",
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+ "width",
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+ "channel"
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+ ]
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+ },
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+ "observation.images.tactile_2": {
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+ "dtype": "image",
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+ "shape": [
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+ 3,
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+ 2,
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+ 2
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+ ],
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+ "names": [
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+ "channels",
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+ "height",
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+ "width",
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+ "channel"
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+ ]
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+ },
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+ "observation.images.tactile_3": {
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+ "dtype": "image",
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+ "shape": [
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+ 3,
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+ 2,
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+ 2
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+ ],
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+ "names": [
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+ "channels",
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+ "height",
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+ "width",
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+ "channel"
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+ ]
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+ },
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+ "observation.images.tactile_4": {
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+ "dtype": "image",
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+ "shape": [
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+ 3,
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+ 2,
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+ 2
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+ ],
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+ "names": [
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+ "channels",
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+ "height",
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+ "width",
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+ "channel"
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+ ]
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+ },
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+ "observation.images.tactile_5": {
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+ "dtype": "image",
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+ "shape": [
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+ 3,
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+ 2,
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+ 2
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+ ],
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+ "names": [
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+ "channels",
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+ "height",
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+ "width",
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+ "channel"
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+ ]
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+ },
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+ "observation.images.tactile_6": {
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+ "dtype": "image",
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+ "shape": [
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+ 3,
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+ 2,
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+ 2
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+ ],
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+ "names": [
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+ "channels",
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+ "height",
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+ "width",
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+ "channel"
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+ ]
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+ },
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+ "observation.images.tactile_7": {
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+ "dtype": "image",
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+ "shape": [
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+ 3,
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+ 2,
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+ 2
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+ ],
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+ "names": [
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+ "channels",
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+ "height",
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+ "width",
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+ "channel"
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+ ]
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+ },
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+ "observation.images.tactile_8": {
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+ "dtype": "image",
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+ "shape": [
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+ 3,
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+ 2,
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+ 2
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+ ],
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+ "names": [
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+ "channels",
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+ "height",
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+ "width",
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+ "channel"
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+ ]
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+ },
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+ "observation.images.tactile_9": {
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+ "dtype": "image",
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+ "shape": [
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+ 3,
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+ 2,
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+ 2
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+ ],
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+ "names": [
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+ "channels",
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+ "height",
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+ "width",
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+ "channel"
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+ ]
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+ },
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+ "observation.images.tactile_10": {
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+ "dtype": "image",
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+ "shape": [
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+ 3,
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+ 2,
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+ 2
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+ ],
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+ "names": [
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+ "channels",
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+ "height",
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+ "width",
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+ "channel"
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+ ]
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+ },
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+ "observation.images.tactile_11": {
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+ "dtype": "image",
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+ "shape": [
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+ 3,
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+ 2,
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+ 2
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+ ],
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+ "names": [
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+ "channels",
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+ "height",
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+ "width",
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+ "channel"
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+ ]
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+ },
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+ "observation.images.tactile_12": {
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+ "dtype": "image",
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+ "shape": [
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+ 3,
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+ 2,
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+ 2
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+ ],
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+ "names": [
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+ "channels",
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+ "height",
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+ "width",
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+ "channel"
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+ ]
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+ },
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+ "observation.images.tactile_13": {
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+ "dtype": "image",
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+ "shape": [
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+ 3,
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+ 2,
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+ 2
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+ ],
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+ "names": [
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+ "channels",
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+ "height",
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+ "width",
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+ "channel"
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+ ]
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+ },
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+ "observation.images.tactile_14": {
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+ "dtype": "image",
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+ "shape": [
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+ 3,
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+ 2,
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+ 2
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+ ],
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+ "names": [
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+ "channels",
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+ "height",
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+ "width",
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+ "channel"
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+ ]
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+ },
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+ "observation.images.tactile_15": {
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+ "dtype": "image",
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+ "shape": [
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+ 3,
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+ 2,
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+ 2
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+ ],
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+ "names": [
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+ "channels",
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+ "height",
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+ "width",
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+ "channel"
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+ ]
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+ },
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+ "observation.images.tactile_16": {
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+ "dtype": "image",
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+ "shape": [
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+ 3,
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+ 2,
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+ 2
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+ ],
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+ "names": [
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+ "channels",
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+ "height",
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+ "width",
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+ "channel"
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+ ]
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+ },
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+ "observation.images.tactile_17": {
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+ "dtype": "image",
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+ "shape": [
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+ 3,
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+ 2,
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+ 2
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+ ],
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+ "names": [
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+ "channels",
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+ "height",
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+ "width",
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+ "channel"
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+ ]
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+ },
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+ "observation.images.tactile_18": {
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+ "dtype": "image",
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+ "shape": [
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+ 3,
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+ 2,
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+ 2
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+ ],
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+ "names": [
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+ "channels",
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+ "height",
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+ "width",
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+ "channel"
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+ ]
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+ },
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+ "timestamp": {
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+ "dtype": "float32",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "frame_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "episode_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "task_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ }
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+ }
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+ }
427
+ ```
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+
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+
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+ ## Citation
431
+
432
+ **BibTeX:**
433
+
434
+ ```bibtex
435
+ [More Information Needed]
436
+ ```