|
|
--- |
|
|
task_categories: |
|
|
- reinforcement-learning |
|
|
language: |
|
|
- en |
|
|
tags: |
|
|
- robot |
|
|
- so101 |
|
|
- LeRobot |
|
|
configs: |
|
|
- config_name: default |
|
|
data_files: data/*/*.parquet |
|
|
--- |
|
|
# TipFinder |
|
|
|
|
|
## Tasks |
|
|
1. "grab the tip" 5x trials |
|
|
|
|
|
## Dataset Structure |
|
|
[meta/info.json](meta/info.json): |
|
|
```json |
|
|
{ |
|
|
"codebase_version": "v2.1", |
|
|
"robot_type": "so101_follower", |
|
|
"total_episodes": 5, |
|
|
"total_frames": 1493, |
|
|
"total_tasks": 1, |
|
|
"total_videos": 5, |
|
|
"total_chunks": 1, |
|
|
"chunks_size": 1000, |
|
|
"fps": 30, |
|
|
"splits": { |
|
|
"train": "0:5" |
|
|
}, |
|
|
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", |
|
|
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.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.front": { |
|
|
"dtype": "video", |
|
|
"shape": [ |
|
|
1080, |
|
|
1920, |
|
|
3 |
|
|
], |
|
|
"names": [ |
|
|
"height", |
|
|
"width", |
|
|
"channels" |
|
|
], |
|
|
"info": { |
|
|
"video.height": 1080, |
|
|
"video.width": 1920, |
|
|
"video.codec": "av1", |
|
|
"video.pix_fmt": "yuv420p", |
|
|
"video.is_depth_map": false, |
|
|
"video.fps": 30, |
|
|
"video.channels": 3, |
|
|
"has_audio": false |
|
|
} |
|
|
}, |
|
|
"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 |
|
|
} |
|
|
} |
|
|
} |
|
|
``` |
|
|
## Preview |
|
|
<video controls width="400"> |
|
|
<source src="https://huggingface.co/datasets/lamli/JustTheTip/resolve/main/videos/chunk-000/observation.images.front/episode_000000.mp4" type="video/mp4"> |
|
|
Your browser does not support the video tag. |
|
|
</video> |
