| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
|
|
|
|
| <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=nikodembartnik/unitreeh1_fold_clothes_annotated"> |
| <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/> |
| <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/> |
| </a> |
|
|
|
|
| ## Dataset Description |
|
|
|
|
|
|
| - **Homepage:** [More Information Needed] |
| - **Paper:** [More Information Needed] |
| - **License:** apache-2.0 |
|
|
| ## Dataset Structure |
|
|
| [meta/info.json](meta/info.json): |
| ```json |
| { |
| "codebase_version": "v3.0", |
| "fps": 50, |
| "features": { |
| "observation.images.cam_left": { |
| "dtype": "video", |
| "shape": [ |
| 720, |
| 1280, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "video_info": { |
| "video.fps": 50.0, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.images.cam_right": { |
| "dtype": "video", |
| "shape": [ |
| 720, |
| 1280, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "video_info": { |
| "video.fps": 50.0, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 19 |
| ], |
| "names": { |
| "motors": [ |
| "motor_0", |
| "motor_1", |
| "motor_2", |
| "motor_3", |
| "motor_4", |
| "motor_5", |
| "motor_6", |
| "motor_7", |
| "motor_8", |
| "motor_9", |
| "motor_10", |
| "motor_11", |
| "motor_12", |
| "motor_13", |
| "motor_14", |
| "motor_15", |
| "motor_16", |
| "motor_17", |
| "motor_18" |
| ] |
| }, |
| "fps": 50.0 |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 40 |
| ], |
| "names": { |
| "motors": [ |
| "motor_0", |
| "motor_1", |
| "motor_2", |
| "motor_3", |
| "motor_4", |
| "motor_5", |
| "motor_6", |
| "motor_7", |
| "motor_8", |
| "motor_9", |
| "motor_10", |
| "motor_11", |
| "motor_12", |
| "motor_13", |
| "motor_14", |
| "motor_15", |
| "motor_16", |
| "motor_17", |
| "motor_18", |
| "motor_19", |
| "motor_20", |
| "motor_21", |
| "motor_22", |
| "motor_23", |
| "motor_24", |
| "motor_25", |
| "motor_26", |
| "motor_27", |
| "motor_28", |
| "motor_29", |
| "motor_30", |
| "motor_31", |
| "motor_32", |
| "motor_33", |
| "motor_34", |
| "motor_35", |
| "motor_36", |
| "motor_37", |
| "motor_38", |
| "motor_39" |
| ] |
| }, |
| "fps": 50.0 |
| }, |
| "episode_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 50.0 |
| }, |
| "frame_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 50.0 |
| }, |
| "timestamp": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 50.0 |
| }, |
| "next.done": { |
| "dtype": "bool", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 50.0 |
| }, |
| "index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 50.0 |
| }, |
| "task_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 50.0 |
| }, |
| "language_persistent": { |
| "dtype": "language", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "language_events": { |
| "dtype": "language", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| } |
| }, |
| "total_episodes": 38, |
| "total_frames": 19000, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 500, |
| "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": "unknown", |
| "splits": { |
| "train": "0:38" |
| }, |
| "tools": [ |
| { |
| "type": "function", |
| "function": { |
| "name": "say", |
| "description": "Speak a short utterance to the user via the TTS executor.", |
| "parameters": { |
| "type": "object", |
| "properties": { |
| "text": { |
| "type": "string", |
| "description": "The verbatim text to speak." |
| } |
| }, |
| "required": [ |
| "text" |
| ] |
| } |
| } |
| } |
| ] |
| } |
| ``` |
|
|
|
|
| ## Citation |
|
|
| **BibTeX:** |
|
|
| ```bibtex |
| [More Information Needed] |
| ``` |
