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README.md
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| 1 |
+
---
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| 2 |
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license: apache-2.0
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task_categories:
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- robotics
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tags:
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- LeRobot
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configs:
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- config_name: default
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data_files: data/*/*.parquet
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---
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This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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## Dataset Description
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| 16 |
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- **Homepage:** [More Information Needed]
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- **Paper:** [More Information Needed]
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- **License:** apache-2.0
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## Dataset Structure
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| 23 |
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[meta/info.json](meta/info.json):
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```json
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{
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"codebase_version": "v2.1",
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"robot_type": "robomimic",
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"total_episodes": 378,
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"total_frames": 70996,
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"total_tasks": 4,
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"total_videos": 378,
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"total_chunks": 1,
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"chunks_size": 1000,
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"fps": 20,
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"splits": {
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"train": "0:378"
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},
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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| 40 |
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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| 41 |
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"features": {
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| 42 |
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"action": {
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"dtype": "float32",
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| 44 |
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"shape": [
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24
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],
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| 47 |
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"names": [
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"action_0",
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| 49 |
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"action_1",
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| 50 |
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"action_2",
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| 51 |
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"action_3",
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| 52 |
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"action_4",
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| 53 |
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"action_5",
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| 54 |
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"action_6",
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| 55 |
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"action_7",
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| 56 |
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"action_8",
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"action_9",
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"action_10",
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"action_11",
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"action_12",
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| 61 |
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"action_13",
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| 62 |
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"action_14",
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| 63 |
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"action_15",
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| 64 |
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"action_16",
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| 65 |
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"action_17",
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| 66 |
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"action_18",
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| 67 |
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"action_19",
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| 68 |
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"action_20",
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| 69 |
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"action_21",
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| 70 |
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"action_22",
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| 71 |
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"action_23"
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| 72 |
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]
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| 73 |
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},
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| 74 |
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"next.done": {
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| 75 |
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"dtype": "bool",
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| 76 |
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"shape": [
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| 77 |
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1
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| 78 |
+
],
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| 79 |
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"names": [
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| 80 |
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"done"
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| 81 |
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]
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| 82 |
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},
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| 83 |
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"observation.state": {
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| 84 |
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"dtype": "float32",
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| 85 |
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"shape": [
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| 86 |
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43
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| 87 |
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],
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| 88 |
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"names": [
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| 89 |
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"robot0_right_eef_pos",
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| 90 |
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"robot0_right_eef_quat",
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| 91 |
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"robot0_right_gripper_qpos",
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| 92 |
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"robot0_left_eef_pos",
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| 93 |
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"robot0_left_eef_quat",
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| 94 |
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"robot0_left_gripper_qpos",
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| 95 |
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"robot0_base_pos",
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| 96 |
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"robot0_base_quat"
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| 97 |
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]
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| 98 |
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},
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| 99 |
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"observation.condition": {
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| 100 |
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"dtype": "float32",
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| 101 |
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"shape": [
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| 102 |
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14
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| 103 |
+
],
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| 104 |
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"names": [
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| 105 |
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"right_abs_pos_gr1_contact_condition",
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| 106 |
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"right_abs_rot_gr1_contact_condition",
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| 107 |
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"left_abs_pos_gr1_contact_condition",
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| 108 |
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"left_abs_rot_gr1_contact_condition"
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| 109 |
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]
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| 110 |
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},
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| 111 |
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"observation.images.egoview": {
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| 112 |
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"dtype": "video",
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| 113 |
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"shape": [
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256,
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| 115 |
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256,
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3
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| 117 |
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],
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| 118 |
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"names": [
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| 119 |
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"height",
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| 120 |
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"width",
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| 121 |
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"channel"
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| 122 |
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],
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| 123 |
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"info": {
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| 124 |
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"video.height": 256,
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| 125 |
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"video.width": 256,
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| 126 |
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"video.codec": "av1",
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| 127 |
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"video.pix_fmt": "yuv420p",
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| 128 |
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"video.is_depth_map": false,
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| 129 |
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"video.fps": 20,
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| 130 |
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"video.channels": 3,
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| 131 |
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"has_audio": false
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| 132 |
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}
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| 133 |
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},
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| 134 |
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"timestamp": {
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| 135 |
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"dtype": "float32",
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| 136 |
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"shape": [
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| 137 |
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1
|
| 138 |
+
],
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| 139 |
+
"names": null
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| 140 |
+
},
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| 141 |
+
"frame_index": {
|
| 142 |
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"dtype": "int64",
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| 143 |
+
"shape": [
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| 144 |
+
1
|
| 145 |
+
],
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| 146 |
+
"names": null
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| 147 |
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},
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| 148 |
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"episode_index": {
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| 149 |
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"dtype": "int64",
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| 150 |
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"shape": [
|
| 151 |
+
1
|
| 152 |
+
],
|
| 153 |
+
"names": null
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| 154 |
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},
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| 155 |
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"index": {
|
| 156 |
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"dtype": "int64",
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| 157 |
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"shape": [
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| 158 |
+
1
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| 159 |
+
],
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| 160 |
+
"names": null
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| 161 |
+
},
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| 162 |
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"task_index": {
|
| 163 |
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"dtype": "int64",
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| 164 |
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"shape": [
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| 165 |
+
1
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| 166 |
+
],
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| 167 |
+
"names": null
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| 168 |
+
}
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| 169 |
+
}
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| 170 |
+
}
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| 171 |
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```
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| 172 |
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| 173 |
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| 174 |
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## Citation
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| 175 |
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| 176 |
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**BibTeX:**
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| 177 |
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| 178 |
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```bibtex
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| 179 |
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[More Information Needed]
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| 180 |
+
```
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