| | --- |
| | license: cc-by-4.0 |
| | task_categories: |
| | - robotics |
| | tags: |
| | - LeRobot |
| | configs: |
| | - config_name: default |
| | data_files: data/*/*.parquet |
| | --- |
| | |
| | This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
| |
|
| | ## Dataset Description |
| |
|
| |
|
| |
|
| | - **Homepage:** https://github.com/clvrai/clvr_jaco_play_dataset |
| | - **Paper:** [More Information Needed] |
| | - **License:** cc-by-4.0 |
| | |
| | ## Dataset Structure |
| | |
| | [meta/info.json](meta/info.json): |
| | ```json |
| | { |
| | "codebase_version": "v2.0", |
| | "robot_type": "unknown", |
| | "total_episodes": 1085, |
| | "total_frames": 77965, |
| | "total_tasks": 89, |
| | "total_videos": 2170, |
| | "total_chunks": 2, |
| | "chunks_size": 1000, |
| | "fps": 10, |
| | "splits": { |
| | "train": "0:1085" |
| | }, |
| | "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": { |
| | "observation.images.image": { |
| | "dtype": "video", |
| | "shape": [ |
| | 224, |
| | 224, |
| | 3 |
| | ], |
| | "names": [ |
| | "height", |
| | "width", |
| | "channel" |
| | ], |
| | "video_info": { |
| | "video.fps": 10.0, |
| | "video.codec": "av1", |
| | "video.pix_fmt": "yuv420p", |
| | "video.is_depth_map": false, |
| | "has_audio": false |
| | } |
| | }, |
| | "observation.images.image_wrist": { |
| | "dtype": "video", |
| | "shape": [ |
| | 224, |
| | 224, |
| | 3 |
| | ], |
| | "names": [ |
| | "height", |
| | "width", |
| | "channel" |
| | ], |
| | "video_info": { |
| | "video.fps": 10.0, |
| | "video.codec": "av1", |
| | "video.pix_fmt": "yuv420p", |
| | "video.is_depth_map": false, |
| | "has_audio": false |
| | } |
| | }, |
| | "language_instruction": { |
| | "dtype": "string", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": null |
| | }, |
| | "observation.state": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 8 |
| | ], |
| | "names": { |
| | "motors": [ |
| | "motor_0", |
| | "motor_1", |
| | "motor_2", |
| | "motor_3", |
| | "motor_4", |
| | "motor_5", |
| | "motor_6", |
| | "motor_7" |
| | ] |
| | } |
| | }, |
| | "action": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 7 |
| | ], |
| | "names": { |
| | "motors": [ |
| | "motor_0", |
| | "motor_1", |
| | "motor_2", |
| | "motor_3", |
| | "motor_4", |
| | "motor_5", |
| | "motor_6" |
| | ] |
| | } |
| | }, |
| | "timestamp": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": null |
| | }, |
| | "episode_index": { |
| | "dtype": "int64", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": null |
| | }, |
| | "frame_index": { |
| | "dtype": "int64", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": null |
| | }, |
| | "next.reward": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": null |
| | }, |
| | "next.done": { |
| | "dtype": "bool", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": null |
| | }, |
| | "index": { |
| | "dtype": "int64", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": null |
| | }, |
| | "task_index": { |
| | "dtype": "int64", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": null |
| | } |
| | } |
| | } |
| | ``` |
| | |
| |
|
| | ## Citation |
| |
|
| | **BibTeX:** |
| |
|
| | ```bibtex |
| | @software{dass2023jacoplay, |
| | author = {Dass, Shivin and Yapeter, Jullian and Zhang, Jesse and Zhang, Jiahui |
| | and Pertsch, Karl and Nikolaidis, Stefanos and Lim, Joseph J.}, |
| | title = {CLVR Jaco Play Dataset}, |
| | url = {https://github.com/clvrai/clvr_jaco_play_dataset}, |
| | version = {1.0.0}, |
| | year = {2023} |
| | } |
| | ``` |
