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",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"shape": [
12
],
"names": [
"goal_gripper_cam_x",
"goal_gripper_cam_y",
"goal_gripper_cam_z",
"goal_anchor_0_x",
"goal_anchor_0_y",
"goal_anchor_0_z",
"goal_anchor_1_x",
"goal_anchor_1_y",
"goal_anchor_1_z",
"wrist_offset",
"finger_speed",
"episode_end"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
20
],
"names": [
"vel_x",
"vel_y",
"vel_z",
"wrist_speed",
"finger_speed",
"gripper_pos_x",
"gripper_pos_y",
"gripper_pos_z",
"spin",
"finger_angle",
"laser_rangefinder",
"finger_pressure",
"wrist_angle",
"target_force",
"hamper_bearing",
"hamper_distance",
"toybox_bearing",
"toybox_distance",
"trashcan_bearing",
"trashcan_distance"
]
},
"observation.images.gripper_camera": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"is_depth_map": false,
"video.g": null,
"video.video_backend": "pyav",
"video.preset": null,
"video.extra_options": null,
"video.crf": null,
"video.fast_decode": null
}
},
"observation.images.anchor_camera_0": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"is_depth_map": false,
"video.g": null,
"video.video_backend": "pyav",
"video.preset": null,
"video.extra_options": null,
"video.crf": null,
"video.fast_decode": null
}
},
"observation.images.anchor_camera_1": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"is_depth_map": false,
"video.g": null,
"video.video_backend": "pyav",
"video.preset": null,
"video.extra_options": null,
"video.crf": null,
"video.fast_decode": null
}
},
"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
},
"anchor_poses": {
"dtype": "float32",
"shape": [
12
],
"names": [
"anchor_0_rx",
"anchor_0_ry",
"anchor_0_rz",
"anchor_0_x",
"anchor_0_y",
"anchor_0_z",
"anchor_1_rx",
"anchor_1_ry",
"anchor_1_rz",
"anchor_1_x",
"anchor_1_y",
"anchor_1_z"
]
}
},
"total_episodes": 769,
"total_frames": 550283,
"total_tasks": 5,
"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": "stringman",
"splits": {
"train": "0:769"
}
}
Citation
BibTeX:
[More Information Needed]