| --- |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - d3il |
| - imitation-learning |
| --- |
| |
| # Combined D3IL dataset (LeRobot v2.1) |
|
|
| This repository combines all eight D3IL demonstration datasets into one |
| task-conditioned LeRobot v2.1 dataset. |
|
|
| `observation.state` is zero-padded to 22 values and `action` to |
| 8 values. `state_is_pad` and `action_is_pad` identify padding. |
| `source_episode_index` preserves the episode number within the source dataset, |
| and `source_fps` preserves its original nominal FPS. The repository FPS is |
| 29, the rate shared by seven of the eight source datasets; no source |
| frames were dropped or interpolated. |
|
|
| Camera features are not included because four source tasks do not have camera |
| data and LeRobot v2.1 does not support optional per-task features. |
|
|
| | Source | Task instruction | State dim | Action dim | Source FPS | |
| |---|---|---:|---:|---:| |
| | `d3il_avoiding` | Move the end effector to the goal while avoiding the obstacles. | 4 | 2 | 29 | |
| | `d3il_aligning` | Align the push box with the target box. | 20 | 3 | 29 | |
| | `d3il_inserting` | Insert the three boxes into their target gates. | 13 | 2 | 29 | |
| | `d3il_pushing` | Push the red and green boxes to their target positions. | 10 | 2 | 29 | |
| | `d3il_sorting_2` | Sort the two boxes by color. | 10 | 2 | 29 | |
| | `d3il_sorting_4` | Sort the four boxes by color. | 16 | 2 | 29 | |
| | `d3il_sorting_6` | Sort the six boxes by color. | 22 | 2 | 29 | |
| | `d3il_stacking` | Stack the red, green, and blue boxes. | 20 | 8 | 33 | |
|
|
