Datasets:
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": "openclaw_follower",
"total_episodes": 20,
"total_frames": 15568,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:20"
},
"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": {
"action": {
"dtype": "float32",
"names": [
"finger1-1.pos",
"finger1-2.pos",
"finger1-3.pos",
"finger1-4.pos",
"finger2-1.pos",
"finger2-2.pos",
"finger2-3.pos",
"finger2-4.pos",
"finger3-1.pos",
"finger3-2.pos",
"finger3-3.pos",
"finger3-4.pos"
],
"shape": [
12
]
},
"observation.state": {
"dtype": "float32",
"names": [
"finger1-1.pos",
"finger1-2.pos",
"finger1-3.pos",
"finger1-4.pos",
"finger2-1.pos",
"finger2-2.pos",
"finger2-3.pos",
"finger2-4.pos",
"finger3-1.pos",
"finger3-2.pos",
"finger3-3.pos",
"finger3-4.pos",
"finger1-1.torque",
"finger1-2.torque",
"finger1-3.torque",
"finger1-4.torque",
"finger2-1.torque",
"finger2-2.torque",
"finger2-3.torque",
"finger2-4.torque",
"finger3-1.torque",
"finger3-2.torque",
"finger3-3.torque",
"finger3-4.torque",
"mid.Fx",
"mid.Fy",
"mid.Fz",
"mid.Mx",
"mid.My",
"left.Fx",
"left.Fy",
"left.Fz",
"left.Mx",
"left.My",
"right.Fx",
"right.Fy",
"right.Fz",
"right.Mx",
"right.My",
"left.Fx_w",
"left.Fy_w",
"left.Fz_w",
"left.x_w",
"left.y_w",
"left.z_w",
"left.qx_w",
"left.qy_w",
"left.qz_w",
"left.qw_w",
"left.f_qx_w",
"left.f_qy_w",
"left.f_qz_w",
"left.f_qw_w",
"mid.Fx_w",
"mid.Fy_w",
"mid.Fz_w",
"mid.x_w",
"mid.y_w",
"mid.z_w",
"mid.qx_w",
"mid.qy_w",
"mid.qz_w",
"mid.qw_w",
"mid.f_qx_w",
"mid.f_qy_w",
"mid.f_qz_w",
"mid.f_qw_w",
"right.Fx_w",
"right.Fy_w",
"right.Fz_w",
"right.x_w",
"right.y_w",
"right.z_w",
"right.qx_w",
"right.qy_w",
"right.qz_w",
"right.qw_w",
"right.f_qx_w",
"right.f_qy_w",
"right.f_qz_w",
"right.f_qw_w"
],
"shape": [
81
]
},
"observation.images.front": {
"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": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right": {
"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": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left": {
"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": 30,
"video.channels": 3,
"has_audio": false
}
},
"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]