Update README.md

README.md

@@ -1,3 +1,372 @@
----
-license: cc-by-4.0
----
+---
+license: cc-by-4.0
+task_categories:
+- robotics
+tags:
+- LeRobot
+- Robotic manipulation
+pretty_name: BridgeData V2 Scripted Demos
+size_categories:
+- 100K<n<1M
+---
+
+## BridgeData V2 Scripted Demos
+
+Scripted demonstrations in [BridgeData V2](https://rail-berkeley.github.io/bridgedata/).
+
+Ported from raw *scripted_6_18* data at full resolution to LeRobotDataset v3.0 format (0.01 TiB | 0.1k inodes).
+
+<div align="center" style="margin: 16px 0;">
+  <video controls autoplay loop muted playsinline style="max-width: 100%; border-radius: 10px;">
+    <source src="https://huggingface.co/datasets/jnogga/bridge_data_v2_scripted/resolve/main/bridge_example_episode.mp4" type="video/mp4">
+    Your browser does not support the video tag.
+  </video>
+</div>
+
+For the teleoperated trajectories with language annotation, see [jnogga/bridge_data_v2_teleop](https://huggingface.co/datasets/jnogga/bridge_data_v2_teleop).
+
+## Dataset Structure
+
+Note that the available cameras vary between episodes. Missing camera perspectives are padded, and the corresponding *_available* sample fields serve as a mask.
+
+[meta/info.json](meta/info.json):
+```json
+{
+  "codebase_version": "v3.0",
+  "robot_type": "widow_x",
+  "fps": 5,
+  "data_files_size_in_mb": 100.0,
+  "video_files_size_in_mb": 200.0,
+  "chunks_size": 1000,
+  "total_episodes": 9701,
+  "total_frames": 456260,
+  "total_tasks": 9701,
+  "splits": {
+    "train": "0:9701"
+  },
+  "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": {
+    "action.cartesian": {
+      "dtype": "float32",
+      "shape": [
+        7
+      ],
+      "names": [
+        "position.x",
+        "position.y",
+        "position.z",
+        "quaternion.w",
+        "quaternion.x",
+        "quaternion.y",
+        "quaternion.z"
+      ],
+      "fps": 5
+    },
+    "action.gripper_position": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null,
+      "fps": 5
+    },
+    "observation.cartesian": {
+      "dtype": "float32",
+      "shape": [
+        7
+      ],
+      "names": [
+        "position.x",
+        "position.y",
+        "position.z",
+        "quaternion.w",
+        "quaternion.x",
+        "quaternion.y",
+        "quaternion.z"
+      ],
+      "fps": 5
+    },
+    "observation.gripper_position": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null,
+      "fps": 5
+    },
+    "observation.eef_transform": {
+      "dtype": "float32",
+      "shape": [
+        7
+      ],
+      "names": [
+        "position.x",
+        "position.y",
+        "position.z",
+        "quaternion.w",
+        "quaternion.x",
+        "quaternion.y",
+        "quaternion.z"
+      ],
+      "fps": 5
+    },
+    "observation.joint_position": {
+      "dtype": "float32",
+      "shape": [
+        6
+      ],
+      "names": [
+        "joint_0",
+        "joint_1",
+        "joint_2",
+        "joint_3",
+        "joint_4",
+        "joint_5"
+      ],
+      "fps": 5
+    },
+    "observation.joint_velocity": {
+      "dtype": "float32",
+      "shape": [
+        6
+      ],
+      "names": [
+        "joint_0",
+        "joint_1",
+        "joint_2",
+        "joint_3",
+        "joint_4",
+        "joint_5"
+      ],
+      "fps": 5
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null,
+      "fps": 5
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null,
+      "fps": 5
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null,
+      "fps": 5
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null,
+      "fps": 5
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null,
+      "fps": 5
+    },
+    "observation.images.camera_0_available": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null,
+      "fps": 5
+    },
+    "observation.images.camera_1_available": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null,
+      "fps": 5
+    },
+    "observation.images.camera_2_available": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null,
+      "fps": 5
+    },
+    "observation.images.camera_3_available": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null,
+      "fps": 5
+    },
+    "observation.images.camera_4_available": {
+      "dtype": "bool",
+      "shape": [
+        1
+      ],
+      "names": null,
+      "fps": 5
+    },
+    "observation.images.camera_0": {
+      "dtype": "video",
+      "shape": [
+        480,
+        640,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "info": {
+        "video.height": 480,
+        "video.width": 640,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "video.fps": 5,
+        "video.channels": 3,
+        "has_audio": false
+      },
+      "fps": 5
+    },
+    "observation.images.camera_1": {
+      "dtype": "video",
+      "shape": [
+        480,
+        640,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "info": {
+        "video.height": 480,
+        "video.width": 640,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "video.fps": 5,
+        "video.channels": 3,
+        "has_audio": false
+      },
+      "fps": 5
+    },
+    "observation.images.camera_2": {
+      "dtype": "video",
+      "shape": [
+        480,
+        640,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "info": {
+        "video.height": 480,
+        "video.width": 640,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "video.fps": 5,
+        "video.channels": 3,
+        "has_audio": false
+      },
+      "fps": 5
+    },
+    "observation.images.camera_3": {
+      "dtype": "video",
+      "shape": [
+        480,
+        640,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "info": {
+        "video.height": 480,
+        "video.width": 640,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "video.fps": 5,
+        "video.channels": 3,
+        "has_audio": false
+      },
+      "fps": 5
+    },
+    "observation.images.camera_4": {
+      "dtype": "video",
+      "shape": [
+        480,
+        640,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channel"
+      ],
+      "info": {
+        "video.height": 480,
+        "video.width": 640,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "video.fps": 5,
+        "video.channels": 3,
+        "has_audio": false
+      },
+      "fps": 5
+    }
+  }
+}
+```
+
+## Getting started
+
+```py
+# pip install lerobot
+from lerobot.datasets.lerobot_dataset import LeRobotDataset
+
+dataset = LeRobotDataset("jnogga/bridge_data_v2_scripted")
+```
+
+See [bridge_example.ipynb](bridge_example.ipynb) for a more detailed example.
+
+## Citation
+
+All credit goes to the original authors of BridgeData V2. If you find their work helpful, please cite
+
+**BibTeX:**
+
+```bibtex
+@inproceedings{walke2023bridgedata,
+    title={BridgeData V2: A Dataset for Robot Learning at Scale},
+    author={Walke, Homer and Black, Kevin and Lee, Abraham and Kim, Moo Jin and Du, Max and Zheng, Chongyi and Zhao, Tony and Hansen-Estruch, Philippe and Vuong, Quan and He, Andre and Myers, Vivek and Fang, Kuan and Finn, Chelsea and Levine, Sergey},
+    booktitle={Conference on Robot Learning (CoRL)},
+    year={2023}
+}
+```