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": "v2.1",
"robot_type": "robomimic",
"total_episodes": 2235,
"total_frames": 552031,
"total_tasks": 20,
"total_videos": 2235,
"total_chunks": 3,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:2235"
},
"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": {
"action": {
"dtype": "float32",
"shape": [
24
],
"names": [
"right_wrist_delta_pos_x",
"right_wrist_delta_pos_y",
"right_wrist_delta_pos_z",
"right_wrist_delta_rot_rx",
"right_wrist_delta_rot_ry",
"right_wrist_delta_rot_rz",
"left_wrist_delta_pos_x",
"left_wrist_delta_pos_y",
"left_wrist_delta_pos_z",
"left_wrist_delta_rot_rx",
"left_wrist_delta_rot_ry",
"left_wrist_delta_rot_rz",
"right_thumb_flexion",
"right_thumb_opposition",
"right_index_flexion",
"right_middle_flexion",
"right_ring_flexion",
"right_pinky_flexion",
"left_thumb_flexion",
"left_thumb_opposition",
"left_index_flexion",
"left_middle_flexion",
"left_ring_flexion",
"left_pinky_flexion"
]
},
"next.done": {
"dtype": "bool",
"shape": [
1
],
"names": [
"done"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
43
],
"names": [
"robot0_right_eef_pos",
"robot0_right_eef_quat",
"robot0_right_gripper_qpos",
"robot0_left_eef_pos",
"robot0_left_eef_quat",
"robot0_left_gripper_qpos",
"robot0_base_pos",
"robot0_base_quat"
]
},
"observation.condition_3D": {
"dtype": "float32",
"shape": [
36
],
"names": [
"gripper0_right_site_R_thumb_distal_link",
"gripper0_right_site_R_index_intermediate_link",
"gripper0_right_site_R_middle_intermediate_link",
"gripper0_right_site_R_ring_intermediate_link",
"gripper0_right_site_R_pinky_intermediate_link",
"gripper0_left_site_L_thumb_distal_link",
"gripper0_left_site_L_index_intermediate_link",
"gripper0_left_site_L_middle_intermediate_link",
"gripper0_left_site_L_ring_intermediate_link",
"gripper0_left_site_L_pinky_intermediate_link",
"robot0_r_wrist_site",
"robot0_l_wrist_site"
]
},
"observation.condition_2D": {
"dtype": "float32",
"shape": [
24
],
"names": [
"gripper0_right_site_R_thumb_distal_link",
"gripper0_right_site_R_index_intermediate_link",
"gripper0_right_site_R_middle_intermediate_link",
"gripper0_right_site_R_ring_intermediate_link",
"gripper0_right_site_R_pinky_intermediate_link",
"gripper0_left_site_L_thumb_distal_link",
"gripper0_left_site_L_index_intermediate_link",
"gripper0_left_site_L_middle_intermediate_link",
"gripper0_left_site_L_ring_intermediate_link",
"gripper0_left_site_L_pinky_intermediate_link",
"robot0_r_wrist_site",
"robot0_l_wrist_site"
]
},
"observation.images.egoview": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"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]