| | --- |
| | 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": "v2.1", |
| | "robot_type": "aiworker", |
| | "total_episodes": 92, |
| | "total_frames": 49498, |
| | "total_tasks": 1, |
| | "total_videos": 276, |
| | "total_chunks": 1, |
| | "chunks_size": 1000, |
| | "fps": 15, |
| | "splits": { |
| | "train": "0:92" |
| | }, |
| | "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": { |
| | "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 |
| | }, |
| | "object_poses": { |
| | "dtype": "float32", |
| | "names": [ |
| | "x", |
| | "y", |
| | "z", |
| | "rotation" |
| | ], |
| | "shape": [ |
| | 6, |
| | 4 |
| | ] |
| | }, |
| | "observation.images.cam_wrist": { |
| | "dtype": "video", |
| | "names": [ |
| | "height", |
| | "width", |
| | "channels" |
| | ], |
| | "shape": [ |
| | 480, |
| | 848, |
| | 3 |
| | ], |
| | "info": { |
| | "video.height": 480, |
| | "video.width": 848, |
| | "video.channels": 3, |
| | "video.codec": "libx264", |
| | "video.pix_fmt": "yuv420p" |
| | } |
| | }, |
| | "observation.images.cam_scene1": { |
| | "dtype": "video", |
| | "names": [ |
| | "height", |
| | "width", |
| | "channels" |
| | ], |
| | "shape": [ |
| | 480, |
| | 640, |
| | 3 |
| | ], |
| | "info": { |
| | "video.height": 480, |
| | "video.width": 640, |
| | "video.channels": 3, |
| | "video.codec": "libx264", |
| | "video.pix_fmt": "yuv420p" |
| | } |
| | }, |
| | "observation.images.cam_scene2": { |
| | "dtype": "video", |
| | "names": [ |
| | "height", |
| | "width", |
| | "channels" |
| | ], |
| | "shape": [ |
| | 480, |
| | 640, |
| | 3 |
| | ], |
| | "info": { |
| | "video.height": 480, |
| | "video.width": 640, |
| | "video.channels": 3, |
| | "video.codec": "libx264", |
| | "video.pix_fmt": "yuv420p" |
| | } |
| | }, |
| | "observation.state": { |
| | "dtype": "float32", |
| | "names": [ |
| | "joint1", |
| | "joint2", |
| | "joint3", |
| | "joint4", |
| | "joint5", |
| | "joint6", |
| | "rh_r1_joint" |
| | ], |
| | "shape": [ |
| | 7 |
| | ] |
| | }, |
| | "action": { |
| | "dtype": "float32", |
| | "names": [ |
| | "joint1", |
| | "joint2", |
| | "joint3", |
| | "joint4", |
| | "joint5", |
| | "joint6", |
| | "rh_r1_joint" |
| | ], |
| | "shape": [ |
| | 7 |
| | ] |
| | } |
| | } |
| | } |
| | ``` |
| |
|
| |
|
| | ## Citation |
| |
|
| | **BibTeX:** |
| |
|
| | ```bibtex |
| | [More Information Needed] |
| | ``` |
