metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
data_files: data/*/*.parquet
This dataset was created using LeRobot.
Dataset Description
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "g1",
"total_episodes": 21,
"total_frames": 8268,
"total_tasks": 2,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:100"
},
"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": {
"observation.images.ego_view": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 20.0,
"video.codec": "h264",
"video.pix_fmt": null,
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.state": {
"dtype": "float64",
"shape": [
28
],
"names": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5",
"motor_6",
"motor_7",
"motor_8",
"motor_9",
"motor_10",
"motor_11",
"motor_12",
"motor_13",
"motor_14",
"motor_15",
"motor_16",
"motor_17",
"motor_18",
"motor_19",
"motor_20",
"motor_21",
"motor_22",
"motor_23",
"motor_24",
"motor_25",
"motor_26",
"motor_27"
],
"fps": 20
},
"action": {
"dtype": "float64",
"shape": [
28
],
"names": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5",
"motor_6",
"motor_7",
"motor_8",
"motor_9",
"motor_10",
"motor_11",
"motor_12",
"motor_13",
"motor_14",
"motor_15",
"motor_16",
"motor_17",
"motor_18",
"motor_19",
"motor_20",
"motor_21",
"motor_22",
"motor_23",
"motor_24",
"motor_25",
"motor_26",
"motor_27"
],
"fps": 20
},
"timestamp": {
"dtype": "float64",
"shape": [
1
],
"fps": 20
},
"annotation.human.action.task_description": {
"dtype": "int64",
"shape": [
1
],
"fps": 20
},
"annotation.human.action.valid": {
"dtype": "int64",
"shape": [
1
],
"fps": 20
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"fps": 20
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"fps": 20
},
"index": {
"dtype": "int64",
"shape": [
1
],
"fps": 20
},
"next.reward": {
"dtype": "float64",
"shape": [
1
],
"fps": 20
},
"next.done": {
"dtype": "bool",
"shape": [
1
],
"fps": 20
}
},
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200
}
Citation
BibTeX:
[More Information Needed]