README.md

metadata

license: mit
pretty_name: genrobot_data
task_categories:
  - robotics
tags:
  - LeRobot
  - robotics
configs:
  - config_name: cup_in_box
    data_files: cup_in_box/data/*/*.parquet
  - config_name: jacket_folding
    data_files: jacket_folding/data/*/*.parquet
  - config_name: sewing_kit_assembly
    data_files: sewing_kit_assembly/data/*/*.parquet
  - config_name: sewing_kit_assembly_correction
    data_files: sewing_kit_assembly_correction/data/*/*.parquet

genrobot_data

Hand-held gripper demonstration data in LeRobot v3.0 format, one dataset per task directory.

task	episodes	frames	camera streams
cup_in_box	5,538	1,049,125	right_main_camera, right_stereo_camera_left, right_stereo_camera_right
jacket_folding	1,484	2,009,491	left_main_camera, right_main_camera
sewing_kit_assembly	4,317	6,430,188	right_main_camera, right_stereo_camera_left, right_stereo_camera_right
sewing_kit_assembly_correction	1,108	347,297	right_main_camera, right_stereo_camera_left, right_stereo_camera_right

Each task directory holds:

• meta/: info.json (features, frame rate, camera and gripper geometry), stats.json, tasks.parquet (task descriptions, paraphrases separated by ||) and episodes/ (per-episode index and video time windows).
• data/: per-frame parquet tables with timestamp, frame_index, episode_index, index, task_index, the camera trajectory (xyz position and wxyz quaternion) and the gripper width in metres.
• videos/: one AV1 MP4 per camera stream and file index, 592x480 at about 30 fps.

License

MIT