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": null,
"total_episodes": 60,
"total_frames": 8586,
"total_tasks": 6,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 20,
"splits": {
"train": "0:60"
},
"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": {
"reward": {
"dtype": "float64",
"shape": [
1
]
},
"done": {
"dtype": "bool",
"shape": [
1
]
},
"observation.state.joint_pos": {
"dtype": "float32",
"shape": [
14
],
"names": {
"motors": [
"l1",
"l2",
"l3",
"l4",
"l5",
"l6",
"l_gripper",
"r1",
"r2",
"r3",
"r4",
"r5",
"r6",
"r_gripper"
]
}
},
"observation.state.ee_6d_pos": {
"dtype": "float32",
"shape": [
20
],
"names": {
"motors": [
"lx",
"ly",
"lz",
"l_c1x",
"l_c1y",
"l_c1z",
"l_c2x",
"l_c2y",
"l_c2z",
"l_gripper",
"rx",
"ry",
"rz",
"r_c1x",
"r_c1y",
"r_c1z",
"r_c2x",
"r_c2y",
"r_c2z",
"r_gripper"
]
}
},
"observation.state.ee_quat_pos": {
"dtype": "float32",
"shape": [
16
],
"names": {
"motors": [
"lx",
"ly",
"lz",
"l_qx",
"l_qy",
"l_qz",
"l_qw",
"l_gripper",
"rx",
"ry",
"rz",
"r_qx",
"r_qy",
"r_qz",
"r_qw",
"r_gripper"
]
}
},
"observation.images.agentview": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 20.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.wrist_left": {
"dtype": "video",
"shape": [
240,
320,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 20.0,
"video.height": 240,
"video.width": 320,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.wrist_right": {
"dtype": "video",
"shape": [
240,
320,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 20.0,
"video.height": 240,
"video.width": 320,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"action.joint_pos": {
"dtype": "float32",
"shape": [
14
],
"names": {
"motors": [
"l1",
"l2",
"l3",
"l4",
"l5",
"l6",
"l_gripper",
"r1",
"r2",
"r3",
"r4",
"r5",
"r6",
"r_gripper"
]
}
},
"action.ee_6d_pos": {
"dtype": "float32",
"shape": [
20
],
"names": {
"motors": [
"lx",
"ly",
"lz",
"l_c1x",
"l_c1y",
"l_c1z",
"l_c2x",
"l_c2y",
"l_c2z",
"l_gripper",
"rx",
"ry",
"rz",
"r_c1x",
"r_c1y",
"r_c1z",
"r_c2x",
"r_c2y",
"r_c2z",
"r_gripper"
]
}
},
"action.ee_quat_pos": {
"dtype": "float32",
"shape": [
16
],
"names": {
"motors": [
"lx",
"ly",
"lz",
"l_qx",
"l_qy",
"l_qz",
"l_qw",
"l_gripper",
"rx",
"ry",
"rz",
"r_qx",
"r_qy",
"r_qz",
"r_qw",
"r_gripper"
]
}
},
"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]