Episodes Preview LeRobot Visualizer
22 episodes · 15 fps · 3 cameras · 224×224 av1

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "fps": 15,
    "features": {
        "observation.images.wrist_right": {
            "dtype": "video",
            "shape": [
                180,
                320,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 180,
                "video.width": 320,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 15,
                "video.channels": 3,
                "has_audio": false,
                "video.preset": null,
                "video.extra_options": null,
                "video.g": null,
                "video.video_backend": "pyav",
                "video.fast_decode": null,
                "video.crf": null
            }
        },
        "observation.images.wrist_left": {
            "dtype": "video",
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                180,
                320,
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            ],
            "names": [
                "height",
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                "channels"
            ],
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                "video.width": 320,
                "video.codec": "av1",
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                "video.is_depth_map": false,
                "video.fps": 15,
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                "video.preset": null,
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                "video.video_backend": "pyav",
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            }
        },
        "observation.images.polar_angles_000": {
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                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
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                "video.width": 224,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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                "video.fps": 15,
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                "video.preset": null,
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                "video.g": null,
                "video.video_backend": "pyav",
                "video.fast_decode": null,
                "video.crf": null
            }
        },
        "timestamp": {
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        },
        "frame_index": {
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        },
        "episode_index": {
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        },
        "index": {
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        },
        "task_index": {
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            ],
            "names": null
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
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            ],
            "names": [
                "lbr_A1.position",
                "lbr_A2.position",
                "lbr_A3.position",
                "lbr_A4.position",
                "lbr_A5.position",
                "lbr_A6.position",
                "lbr_A7.position"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
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            ],
            "names": [
                "lbr_A1.velocity",
                "lbr_A2.velocity",
                "lbr_A3.velocity",
                "lbr_A4.velocity",
                "lbr_A5.velocity",
                "lbr_A6.velocity",
                "lbr_A7.velocity"
            ]
        }
    },
    "total_episodes": 22,
    "total_frames": 8738,
    "total_tasks": 2,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "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",
    "robot_type": null,
    "splits": {
        "train": "0:22"
    }
}

Citation

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