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": "so101",
"total_episodes": 10,
"total_frames": 4725,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:10"
},
"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": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
]
},
"observation.images.wrist": {
"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
}
},
"observation.images.overhead": {
"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
}
},
"observation.environment_state": {
"dtype": "float32",
"shape": [
36
],
"names": [
"joint_positions_0",
"joint_positions_1",
"joint_positions_2",
"joint_positions_3",
"joint_positions_4",
"joint_positions_5",
"joint_velocities_0",
"joint_velocities_1",
"joint_velocities_2",
"joint_velocities_3",
"joint_velocities_4",
"joint_velocities_5",
"end_effector_pose_0",
"end_effector_pose_1",
"end_effector_pose_2",
"end_effector_pose_3",
"end_effector_pose_4",
"end_effector_pose_5",
"end_effector_pose_6",
"grasp_state_0",
"target_position_0",
"target_position_1",
"target_position_2",
"object_pose_0",
"object_pose_1",
"object_pose_2",
"object_pose_3",
"object_pose_4",
"object_pose_5",
"object_pose_6",
"object_offset_0",
"object_offset_1",
"object_offset_2",
"target_offset_0",
"target_offset_1",
"target_offset_2"
]
},
"reward": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"success": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"done": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"reward_components.reaching": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"reward_components.grasping": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"reward_components.task_objective": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"reward_components.completion_bonus": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"reward_components.action_delta_penalty": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"reward_components.energy_penalty": {
"dtype": "float32",
"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
}
}
}
Citation
BibTeX:
[More Information Needed]