| license: apache-2.0 | |
| task_categories: | |
| - robotics | |
| tags: | |
| - LeRobot | |
| 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", | |
| "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:** | |
| ```bibtex | |
| [More Information Needed] | |
| ``` |