Datasets:
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": "PandaOmron",
"total_episodes": 110,
"total_frames": 15670,
"total_tasks": 2,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:110"
},
"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": [
12
],
"names": [
"base_x",
"base_y",
"base_rot",
"base_torso",
"control_mode",
"ee_x",
"ee_y",
"ee_z",
"ee_rx",
"ee_ry",
"ee_rz",
"gripper_close"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
16
],
"names": [
"base_x",
"base_y",
"base_z",
"base_qx",
"base_qy",
"base_qz",
"base_qw",
"ee_rel_x",
"ee_rel_y",
"ee_rel_z",
"ee_rel_qx",
"ee_rel_qy",
"ee_rel_qz",
"ee_rel_qw",
"gripper_left",
"gripper_right"
]
},
"observation.images.robot0_agentview_left": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.robot0_agentview_right": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.robot0_eye_in_hand": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"observation.depth.robot0_agentview_left": {
"dtype": "float16",
"shape": [
256,
256
],
"names": "depth_image"
},
"observation.depth.robot0_agentview_right": {
"dtype": "float16",
"shape": [
256,
256
],
"names": "depth_image"
},
"observation.depth.robot0_eye_in_hand": {
"dtype": "float16",
"shape": [
256,
256
],
"names": "depth_image"
},
"observation.intrinsic.robot0_agentview_left": {
"dtype": "float32",
"shape": [
3,
3
],
"names": "intrinsic_matrix"
},
"observation.intrinsic.robot0_agentview_right": {
"dtype": "float32",
"shape": [
3,
3
],
"names": "intrinsic_matrix"
},
"observation.intrinsic.robot0_eye_in_hand": {
"dtype": "float32",
"shape": [
3,
3
],
"names": "intrinsic_matrix"
},
"observation.extrinsic.robot0_agentview_left": {
"dtype": "float32",
"shape": [
4,
4
],
"names": "extrinsic_matrix"
},
"observation.extrinsic.robot0_agentview_right": {
"dtype": "float32",
"shape": [
4,
4
],
"names": "extrinsic_matrix"
},
"observation.extrinsic.robot0_eye_in_hand": {
"dtype": "float32",
"shape": [
4,
4
],
"names": "extrinsic_matrix"
},
"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]