Datasets:
Modalities:
Video
Languages:
English
Size:
1K - 10K
ArXiv:
Tags:
robotics
embodied-ai
dexterous-manipulation
robot-learning
imitation-learning
laboratory-automation
License:
Upload atomic dataset (part 5)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- data/atomic/pick_up_the_beaker/meta/info.json +306 -0
- data/atomic/pick_up_the_beaker/meta/tasks.jsonl +1 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000000.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000001.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000002.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000003.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000004.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000005.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000006.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000007.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000008.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000009.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000010.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000011.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000012.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000013.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000014.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000015.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000016.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000017.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000018.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000019.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000020.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000021.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000022.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000023.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000024.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000025.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000026.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000027.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000028.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000029.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000030.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000031.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000032.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000033.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000034.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000035.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000036.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000037.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000038.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000039.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000040.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000041.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000042.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000043.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000044.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000045.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000046.mp4 +3 -0
- data/atomic/pick_up_the_beaker/videos/chunk-000/observation.images.front_left_view/episode_000047.mp4 +3 -0
data/atomic/pick_up_the_beaker/meta/info.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "franka_fer_xhand",
|
| 4 |
+
"total_episodes": 200,
|
| 5 |
+
"total_frames": 28899,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 600,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 20,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:200"
|
| 13 |
+
},
|
| 14 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 15 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 16 |
+
"features": {
|
| 17 |
+
"action": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
19
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"arm_joint_0.pos",
|
| 24 |
+
"arm_joint_1.pos",
|
| 25 |
+
"arm_joint_2.pos",
|
| 26 |
+
"arm_joint_3.pos",
|
| 27 |
+
"arm_joint_4.pos",
|
| 28 |
+
"arm_joint_5.pos",
|
| 29 |
+
"arm_joint_6.pos",
|
| 30 |
+
"hand_joint_0.pos",
|
| 31 |
+
"hand_joint_1.pos",
|
| 32 |
+
"hand_joint_2.pos",
|
| 33 |
+
"hand_joint_3.pos",
|
| 34 |
+
"hand_joint_4.pos",
|
| 35 |
+
"hand_joint_5.pos",
|
| 36 |
+
"hand_joint_6.pos",
|
| 37 |
+
"hand_joint_7.pos",
|
| 38 |
+
"hand_joint_8.pos",
|
| 39 |
+
"hand_joint_9.pos",
|
| 40 |
+
"hand_joint_10.pos",
|
| 41 |
+
"hand_joint_11.pos"
|
| 42 |
+
]
|
| 43 |
+
},
|
| 44 |
+
"observation.state": {
|
| 45 |
+
"dtype": "float32",
|
| 46 |
+
"shape": [
|
| 47 |
+
54
|
| 48 |
+
],
|
| 49 |
+
"names": [
|
| 50 |
+
"arm_joint_0.pos",
|
| 51 |
+
"arm_joint_1.pos",
|
| 52 |
+
"arm_joint_2.pos",
|
| 53 |
+
"arm_joint_3.pos",
|
| 54 |
+
"arm_joint_4.pos",
|
| 55 |
+
"arm_joint_5.pos",
|
| 56 |
+
"arm_joint_6.pos",
|
| 57 |
+
"arm_joint_0.vel",
|
| 58 |
+
"arm_joint_1.vel",
|
| 59 |
+
"arm_joint_2.vel",
|
| 60 |
+
"arm_joint_3.vel",
|
| 61 |
+
"arm_joint_4.vel",
|
| 62 |
+
"arm_joint_5.vel",
|
| 63 |
+
"arm_joint_6.vel",
|
| 64 |
+
"arm_ee_pose.00",
|
| 65 |
+
"arm_ee_pose.01",
|
| 66 |
+
"arm_ee_pose.02",
|
| 67 |
+
"arm_ee_pose.03",
|
| 68 |
+
"arm_ee_pose.04",
|
| 69 |
+
"arm_ee_pose.05",
|
| 70 |
+
"arm_ee_pose.06",
|
| 71 |
+
"arm_ee_pose.07",
|
| 72 |
+
"arm_ee_pose.08",
|
| 73 |
+
"arm_ee_pose.09",
|
| 74 |
+
"arm_ee_pose.10",
|
| 75 |
+
"arm_ee_pose.11",
|
| 76 |
+
"arm_ee_pose.12",
|
| 77 |
+
"arm_ee_pose.13",
|
| 78 |
+
"arm_ee_pose.14",
|
| 79 |
+
"arm_ee_pose.15",
|
| 80 |
+
"hand_joint_0.pos",
|
| 81 |
+
"hand_joint_1.pos",
|
| 82 |
+
"hand_joint_2.pos",
|
| 83 |
+
"hand_joint_3.pos",
|
| 84 |
+
"hand_joint_4.pos",
|
| 85 |
+
"hand_joint_5.pos",
|
| 86 |
+
"hand_joint_6.pos",
|
| 87 |
+
"hand_joint_7.pos",
|
| 88 |
+
"hand_joint_8.pos",
|
| 89 |
+
"hand_joint_9.pos",
|
| 90 |
+
"hand_joint_10.pos",
|
| 91 |
+
"hand_joint_11.pos",
|
| 92 |
+
"hand_joint_0.torque",
|
| 93 |
+
"hand_joint_1.torque",
|
| 94 |
+
"hand_joint_2.torque",
|
| 95 |
+
"hand_joint_3.torque",
|
| 96 |
+
"hand_joint_4.torque",
|
| 97 |
+
"hand_joint_5.torque",
|
| 98 |
+
"hand_joint_6.torque",
|
| 99 |
+
"hand_joint_7.torque",
|
| 100 |
+
"hand_joint_8.torque",
|
| 101 |
+
"hand_joint_9.torque",
|
| 102 |
+
"hand_joint_10.torque",
|
| 103 |
+
"hand_joint_11.torque"
|
| 104 |
+
]
|
| 105 |
+
},
|
| 106 |
+
"observation.images.head_view": {
|
| 107 |
+
"dtype": "video",
|
| 108 |
+
"shape": [
|
| 109 |
+
480,
|
| 110 |
+
640,
|
| 111 |
+
3
|
| 112 |
+
],
|
| 113 |
+
"names": [
|
| 114 |
+
"height",
|
| 115 |
+
"width",
|
| 116 |
+
"channels"
|
| 117 |
+
],
|
| 118 |
+
"info": {
|
| 119 |
+
"video.height": 480,
|
| 120 |
+
"video.width": 640,
|
| 121 |
+
"video.codec": "av1",
|
| 122 |
+
"video.pix_fmt": "yuv420p",
|
| 123 |
+
"video.is_depth_map": false,
|
| 124 |
+
"video.fps": 20,
|
| 125 |
+
"video.channels": 3,
|
| 126 |
+
"has_audio": false
|
| 127 |
+
}
|
| 128 |
+
},
|
| 129 |
+
"observation.images.front_left_view": {
|
| 130 |
+
"dtype": "video",
|
| 131 |
+
"shape": [
|
| 132 |
+
480,
|
| 133 |
+
640,
|
| 134 |
+
3
|
| 135 |
+
],
|
| 136 |
+
"names": [
|
| 137 |
+
"height",
|
| 138 |
+
"width",
|
| 139 |
+
"channels"
|
| 140 |
+
],
|
| 141 |
+
"info": {
|
| 142 |
+
"video.height": 480,
|
| 143 |
+
"video.width": 640,
|
| 144 |
+
"video.codec": "av1",
|
| 145 |
+
"video.pix_fmt": "yuv420p",
|
| 146 |
+
"video.is_depth_map": false,
|
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