Datasets:
metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
data_files: data/*/*.parquet
This dataset was created using LeRobot.
Dataset Description
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "ur5e",
"total_episodes": 51,
"total_frames": 20154,
"total_tasks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:51"
},
"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",
"camera_keys": [
"observation.images.wrist",
"observation.images.front"
],
"features": {
"action": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.next_pos",
"shoulder_lift.next_pos",
"elbow_flex.next_pos",
"wrist_1.next_pos",
"wrist_2.next_pos",
"wrist_3.next_pos"
],
"fps": 30
},
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_1.pos",
"wrist_2.pos",
"wrist_3.pos"
],
"fps": 30
},
"observation.images.wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "avc1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.front": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "avc1",
"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,
"fps": 30
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 30
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 30
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 30
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 30
}
},
"stats": {
"action": {
"min": [
-0.3130820393562317,
-1.4359151124954224,
1.1135739088058472,
-1.9934531450271606,
-1.5882185697555542,
2.8140501976013184
],
"max": [
-0.061482254415750504,
-1.0886858701705933,
1.5842937231063843,
-1.5251840353012085,
-1.570844054222107,
3.0699830055236816
],
"mean": [
-0.105482753337027,
-1.2356856620014809,
1.454376377105429,
-1.8439166717459738,
-1.5832914539636027,
3.0230185540526637
],
"std": [
0.0509317958605875,
0.03196725925707741,
0.0953056833583131,
0.10262442288757066,
0.0030627232111415333,
0.051801091440311836
]
},
"observation.state": {
"min": [
-0.3130820393562317,
-1.4360930919647217,
1.1135739088058472,
-1.9934531450271606,
-1.5882185697555542,
2.8140501976013184
],
"max": [
-0.061482254415750504,
-1.0886858701705933,
1.5842937231063843,
-1.5251840353012085,
-1.570844054222107,
3.0699830055236816
],
"mean": [
-0.1054863021704866,
-1.2357026514546128,
1.4543665177388905,
-1.843889748853765,
-1.5832912349696195,
3.0230149162114937
],
"std": [
0.05094669734665615,
0.03201409533116832,
0.0953290126915036,
0.10265213460082351,
0.0030635545040783897,
0.05181595027851108
]
},
"timestamp": {
"min": [
0.0
],
"max": [
30.799999237060547
],
"mean": [
7.283837795257568
],
"std": [
5.195143222808838
]
}
},
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200
}
Citation
BibTeX:
[More Information Needed]