metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- lerobot
configs:
- config_name: default
data_files: data/*/*.parquet
size_categories:
- n<1K
Dataset Description
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "",
"total_episodes": 7,
"total_frames": 397,
"total_tasks": 7,
"total_videos": 28,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:7"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"observation.images.camera_01": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.cam_high": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.cam_left_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.cam_right_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.state": {
"dtype": "float64",
"shape": [
21
],
"names": [
"R_JOINT_1",
"R_JOINT_2",
"R_JOINT_3",
"R_JOINT_4",
"R_JOINT_5",
"R_JOINT_6",
"R_JOINT_7",
"L_JOINT_1",
"L_JOINT_2",
"L_JOINT_3",
"L_JOINT_4",
"L_JOINT_5",
"L_JOINT_6",
"L_JOINT_7",
"JOINT_1",
"JOINT_2",
"JOINT_3",
"JOINT_4",
"JOINT_5",
"JOINT_7",
"JOINT_6"
]
},
"action": {
"dtype": "float64",
"shape": [
14
],
"names": [
"R_JOINT_1",
"R_JOINT_2",
"R_JOINT_3",
"R_JOINT_4",
"R_JOINT_5",
"R_JOINT_6",
"R_JOINT_7",
"L_JOINT_1",
"L_JOINT_2",
"L_JOINT_3",
"L_JOINT_4",
"L_JOINT_5",
"L_JOINT_6",
"L_JOINT_7"
]
},
"observation.score": {
"dtype": "float32",
"shape": [
1
],
"names": [
"score"
]
},
"observation.gripper": {
"dtype": "float64",
"shape": [
2
],
"names": [
"right_gripper",
"left_gripper"
]
},
"observation.base_move": {
"dtype": "float64",
"shape": [
3
],
"names": [
"base_move_x",
"base_move_y",
"base_move_theta"
]
},
"observation.target_joint_from_vr": {
"dtype": "float64",
"shape": [
5
],
"names": [
"JOINT_7",
"JOINT_6",
"JOINT_1",
"JOINT_2",
"JOINT_3"
]
},
"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:
[More Information Needed]