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": "panda",
"total_episodes": 1600,
"total_frames": 768897,
"total_tasks": 116,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:1600"
},
"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": {
"image": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"fps": 10,
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"wrist_image": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"fps": 10,
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"state": {
"dtype": "float32",
"shape": [
8
],
"names": [
"state"
],
"fps": 10
},
"actions": {
"dtype": "float32",
"shape": [
8
],
"names": [
"actions"
],
"fps": 10
},
"exec_start_idx": {
"dtype": "int32",
"shape": [
1
],
"names": [
"execution start idx in current episode"
],
"fps": 10
},
"is_demo": {
"dtype": "bool",
"shape": [
1
],
"names": [
"is video demo"
],
"fps": 10
},
"step_idx": {
"dtype": "int32",
"shape": [
1
],
"names": [
"step_idx"
],
"fps": 10
},
"epis_idx": {
"dtype": "int32",
"shape": [
1
],
"names": [
"epis_idx"
],
"fps": 10
},
"simple_subgoal": {
"dtype": "string",
"shape": [
1
],
"names": [
"simple subgoal"
],
"fps": 10
},
"grounded_subgoal": {
"dtype": "string",
"shape": [
1
],
"names": [
"detailed subgoal with grounding information, e.g, object location"
],
"fps": 10
},
"simple_subgoal_online": {
"dtype": "string",
"shape": [
1
],
"names": [
"simple subgoal online"
],
"fps": 10
},
"grounded_subgoal_online": {
"dtype": "string",
"shape": [
1
],
"names": [
"detailed subgoal with grounding information, e.g, object location"
],
"fps": 10
},
"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]