| --- |
| 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=sini-21/robocasa_task"> |
| <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", |
| "robot_type": null, |
| "total_episodes": 1261, |
| "total_frames": 349685, |
| "total_tasks": 242, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "fps": 20, |
| "splits": { |
| "train": "0:1261" |
| }, |
| "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": { |
| "observation.images.left_view": { |
| "dtype": "video", |
| "shape": [ |
| 256, |
| 256, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "video_info": { |
| "video.fps": 20, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p" |
| }, |
| "info": { |
| "video.height": 256, |
| "video.width": 256, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 20, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.right_view": { |
| "dtype": "video", |
| "shape": [ |
| 256, |
| 256, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "video_info": { |
| "video.fps": 20, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p" |
| }, |
| "info": { |
| "video.height": 256, |
| "video.width": 256, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 20, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.wrist_view": { |
| "dtype": "video", |
| "shape": [ |
| 256, |
| 256, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "video_info": { |
| "video.fps": 20, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p" |
| }, |
| "info": { |
| "video.height": 256, |
| "video.width": 256, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 20, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 53 |
| ], |
| "names": [ |
| "state_0", |
| "state_1", |
| "state_2", |
| "state_3", |
| "state_4", |
| "state_5", |
| "state_6", |
| "state_7", |
| "state_8", |
| "state_9", |
| "state_10", |
| "state_11", |
| "state_12", |
| "state_13", |
| "state_14", |
| "state_15", |
| "state_16", |
| "state_17", |
| "state_18", |
| "state_19", |
| "state_20", |
| "state_21", |
| "state_22", |
| "state_23", |
| "state_24", |
| "state_25", |
| "state_26", |
| "state_27", |
| "state_28", |
| "state_29", |
| "state_30", |
| "state_31", |
| "state_32", |
| "state_33", |
| "state_34", |
| "state_35", |
| "state_36", |
| "state_37", |
| "state_38", |
| "state_39", |
| "state_40", |
| "state_41", |
| "state_42", |
| "state_43", |
| "state_44", |
| "state_45", |
| "state_46", |
| "state_47", |
| "state_48", |
| "state_49", |
| "state_50", |
| "state_51", |
| "state_52" |
| ], |
| "fps": 20 |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 12 |
| ], |
| "names": [ |
| "action_0", |
| "action_1", |
| "action_2", |
| "action_3", |
| "action_4", |
| "action_5", |
| "action_6", |
| "action_7", |
| "action_8", |
| "action_9", |
| "action_10", |
| "action_11" |
| ], |
| "fps": 20 |
| }, |
| "next.reward": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "fps": 20 |
| }, |
| "next.done": { |
| "dtype": "bool", |
| "shape": [ |
| 1 |
| ], |
| "fps": 20 |
| }, |
| "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] |
| ``` |
