| | --- |
| | 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": "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:** |
| |
|
| | ```bibtex |
| | [More Information Needed] |
| | ``` |
