diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..d0399cc56c7d9fc025def2f2cebd272c0c0e8369 --- /dev/null +++ b/README.md @@ -0,0 +1,199 @@ +--- +license: apache-2.0 +task_categories: +- robotics +tags: +- LeRobot +configs: +- config_name: default + data_files: data/*/*.parquet +--- + +# Merged LeRobot Dataset + +This dataset was created by merging multiple LeRobot datasets using the [LeRobot](https://github.com/huggingface/lerobot) merge tool. + +## Source Datasets + +This merged dataset combines the following 3 datasets: + +- [jackvial/koch_screwdriver_attach_orange_panel_1_e5](https://huggingface.co/datasets/jackvial/koch_screwdriver_attach_orange_panel_1_e5) +- [jackvial/koch_screwdriver_attach_orange_panel_29_e5](https://huggingface.co/datasets/jackvial/koch_screwdriver_attach_orange_panel_29_e5) +- [jackvial/koch_screwdriver_attach_orange_panel_30_e5](https://huggingface.co/datasets/jackvial/koch_screwdriver_attach_orange_panel_30_e5) + +## Dataset Statistics + +- **Total Episodes**: 15 +- **Total Frames**: 3173 +- **Robot Type**: koch_screwdriver_follower +- **FPS**: 30 + +## Dataset Structure + +[meta/info.json](meta/info.json): +```json +{ + "codebase_version": "v2.1", + "robot_type": "koch_screwdriver_follower", + "total_episodes": 15, + "total_frames": 3173, + "total_tasks": 2, + "total_videos": 0, + "total_chunks": 0, + "chunks_size": 1000, + "fps": 30, + "splits": { + "train": "0:15" + }, + "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": [ + 6 + ], + "names": [ + "shoulder_pan.pos", + "shoulder_lift.pos", + "elbow_flex.pos", + "wrist_flex.pos", + "wrist_roll.pos", + "screwdriver.vel" + ] + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 6 + ], + "names": [ + "shoulder_pan.pos", + "shoulder_lift.pos", + "elbow_flex.pos", + "wrist_flex.pos", + "wrist_roll.pos", + "screwdriver.vel" + ] + }, + "observation.images.screwdriver": { + "dtype": "video", + "shape": [ + 600, + 800, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 600, + "video.width": 800, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.side": { + "dtype": "video", + "shape": [ + 600, + 800, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 600, + "video.width": 800, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.top": { + "dtype": "video", + "shape": [ + 600, + 800, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 600, + "video.width": 800, + "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 + } + } +} +``` + +## Merge Details + +- **Merge Date**: Generated automatically +- **Source Count**: 3 datasets +- **Episode Renumbering**: Episodes are renumbered sequentially starting from 0 + +## Citation + +**BibTeX:** + +```bibtex +[More Information Needed] +``` diff --git 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