| | --- |
| | license: mit |
| | 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://roboturk.stanford.edu/dataset_real.html |
| | - **Paper:** PAPER |
| | - **License:** mit |
| | |
| | ## Dataset Structure |
| | |
| | [meta/info.json](meta/info.json): |
| | ```json |
| | { |
| | "codebase_version": "v2.0", |
| | "robot_type": "unknown", |
| | "total_episodes": 1995, |
| | "total_frames": 187507, |
| | "total_tasks": 3, |
| | "total_videos": 1995, |
| | "total_chunks": 2, |
| | "chunks_size": 1000, |
| | "fps": 10, |
| | "splits": { |
| | "train": "0:1995" |
| | }, |
| | "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.front_rgb": { |
| | "dtype": "video", |
| | "shape": [ |
| | 480, |
| | 640, |
| | 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 |
| | @inproceedings{mandlekar2019scaling, |
| | title={Scaling robot supervision to hundreds of hours with roboturk: Robotic manipulation dataset through human reasoning and dexterity}, |
| | author={Mandlekar, Ajay and Booher, Jonathan and Spero, Max and Tung, Albert and Gupta, Anchit and Zhu, Yuke and Garg, Animesh and Savarese, Silvio and Fei-Fei, Li}, |
| | booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, |
| | pages={1048--1055}, |
| | year={2019}, |
| | organization={IEEE} |
| | } |
| | ``` |
