| --- |
| 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 |
|
|
| [meta/info.json](meta/info.json): |
| ```json |
| { |
| "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:** |
|
|
| ```bibtex |
| [More Information Needed] |
| ``` |
