| | --- |
| | 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). |
| |
|
| | ## 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", |
| | "robot_type": "so100_follower", |
| | "total_episodes": 1, |
| | "total_frames": 699, |
| | "total_tasks": 1, |
| | "chunks_size": 1000, |
| | "data_files_size_in_mb": 100, |
| | "video_files_size_in_mb": 500, |
| | "fps": 30, |
| | "splits": { |
| | "train": "0:1" |
| | }, |
| | "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", |
| | "features": { |
| | "action": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 6 |
| | ], |
| | "names": [ |
| | "shoulder_pan.pos", |
| | "shoulder_lift.pos", |
| | "elbow_flex.pos", |
| | "wrist_flex.pos", |
| | "wrist_roll.pos", |
| | "gripper.pos" |
| | ] |
| | }, |
| | "observation.state": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 6 |
| | ], |
| | "names": [ |
| | "shoulder_pan.pos", |
| | "shoulder_lift.pos", |
| | "elbow_flex.pos", |
| | "wrist_flex.pos", |
| | "wrist_roll.pos", |
| | "gripper.pos" |
| | ] |
| | }, |
| | "observation.images.side": { |
| | "dtype": "video", |
| | "shape": [ |
| | 480, |
| | 640, |
| | 3 |
| | ], |
| | "names": [ |
| | "height", |
| | "width", |
| | "channels" |
| | ], |
| | "info": { |
| | "video.height": 480, |
| | "video.width": 640, |
| | "video.codec": "av1", |
| | "video.pix_fmt": "yuv420p", |
| | "video.is_depth_map": false, |
| | "video.fps": 30, |
| | "video.channels": 3, |
| | "has_audio": false |
| | } |
| | }, |
| | "observation.images.wrist": { |
| | "dtype": "video", |
| | "shape": [ |
| | 480, |
| | 640, |
| | 3 |
| | ], |
| | "names": [ |
| | "height", |
| | "width", |
| | "channels" |
| | ], |
| | "info": { |
| | "video.height": 480, |
| | "video.width": 640, |
| | "video.codec": "av1", |
| | "video.pix_fmt": "yuv420p", |
| | "video.is_depth_map": false, |
| | "video.fps": 30, |
| | "video.channels": 3, |
| | "has_audio": false |
| | } |
| | }, |
| | "observation.environment_state": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 48 |
| | ], |
| | "names": [ |
| | "poses.ee.m00", |
| | "poses.ee.m01", |
| | "poses.ee.m02", |
| | "poses.ee.m03", |
| | "poses.ee.m10", |
| | "poses.ee.m11", |
| | "poses.ee.m12", |
| | "poses.ee.m13", |
| | "poses.ee.m20", |
| | "poses.ee.m21", |
| | "poses.ee.m22", |
| | "poses.ee.m23", |
| | "poses.ee.m30", |
| | "poses.ee.m31", |
| | "poses.ee.m32", |
| | "poses.ee.m33", |
| | "poses.obj.m00", |
| | "poses.obj.m01", |
| | "poses.obj.m02", |
| | "poses.obj.m03", |
| | "poses.obj.m10", |
| | "poses.obj.m11", |
| | "poses.obj.m12", |
| | "poses.obj.m13", |
| | "poses.obj.m20", |
| | "poses.obj.m21", |
| | "poses.obj.m22", |
| | "poses.obj.m23", |
| | "poses.obj.m30", |
| | "poses.obj.m31", |
| | "poses.obj.m32", |
| | "poses.obj.m33", |
| | "poses.rel.m00", |
| | "poses.rel.m01", |
| | "poses.rel.m02", |
| | "poses.rel.m03", |
| | "poses.rel.m10", |
| | "poses.rel.m11", |
| | "poses.rel.m12", |
| | "poses.rel.m13", |
| | "poses.rel.m20", |
| | "poses.rel.m21", |
| | "poses.rel.m22", |
| | "poses.rel.m23", |
| | "poses.rel.m30", |
| | "poses.rel.m31", |
| | "poses.rel.m32", |
| | "poses.rel.m33" |
| | ] |
| | }, |
| | "observation.images.top": { |
| | "dtype": "video", |
| | "shape": [ |
| | 480, |
| | 640, |
| | 3 |
| | ], |
| | "names": [ |
| | "height", |
| | "width", |
| | "channels" |
| | ], |
| | "info": { |
| | "video.height": 480, |
| | "video.width": 640, |
| | "video.codec": "av1", |
| | "video.pix_fmt": "yuv420p", |
| | "video.is_depth_map": false, |
| | "video.fps": 30, |
| | "video.channels": 3, |
| | "has_audio": false |
| | } |
| | }, |
| | "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 |
| | } |
| | } |
| | } |
| | ``` |
| |
|
| |
|
| | ## Citation |
| |
|
| | **BibTeX:** |
| |
|
| | ```bibtex |
| | [More Information Needed] |
| | ``` |
