README.md

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

meta/info.json:

{
    "codebase_version": "v3.0",
    "fps": 30,
    "features": {
        "action": {
            "dtype": "float32",
            "names": ["shoulder_pan.pos", "shoulder_lift.pos", "elbow_flex.pos", "wrist_flex.pos", "wrist_roll.pos", "gripper.pos"],
            "shape": [6]
        },
        "observation.state": {
            "dtype": "float32",
            "names": ["shoulder_pan.pos", "shoulder_lift.pos", "elbow_flex.pos", "wrist_flex.pos", "wrist_roll.pos", "gripper.pos"],
            "shape": [6]
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [480, 640, 3],
            "names": ["height", "width", "channels"],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "intervention": {"dtype": "bool", "shape": [1], "names": null},
        "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}
    },
    "total_episodes": 1,
    "total_frames": 741,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "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",
    "robot_type": "so_follower",
    "splits": {"train": "0:1"}
}

Citation

BibTeX:

[More Information Needed]