| ---
|
| license: cc-by-4.0
|
| task_categories:
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| - robotics
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| tags:
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| - LeRobot
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| - animacy
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| - expressive-robots
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| - vla
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| - lamp
|
| configs:
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| - config_name: default
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| data_files: data/*/*.parquet
|
| ---
|
|
|
| # squaredcuber/animacy-lamp-lerobot
|
|
|
| Human conversational motion retargeted to **animacy/lamp** as a LeRobot v3.0 dataset, produced by
|
| [animacy](https://github.com/Hcoder10/animacy) (`scripts/export_lerobot.py`). The robot joint
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| vector is `observation.state`, the next frame is `action`, and every frame carries the
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| speech features, the speaking flag and the canonical human channels it was computed from,
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| so the same dataset trains robot-space and human-space policies.
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|
|
| **53 episodes, 26774 frames at 30 fps (14.9 min), 5 task strings.**
|
|
|
| ```python
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| from lerobot.datasets.lerobot_dataset import LeRobotDataset
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| ds = LeRobotDataset("squaredcuber/animacy-lamp-lerobot")
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| item = ds[0] # observation.state, action, observation.human, observation.audio_features, observation.speaking, ...
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| ```
|
|
|
| ## Features
|
|
|
| | key | dtype | shape | names |
|
| |---|---|---|---|
|
| | `observation.state` | float32 | [5] | base_yaw, base_pitch, elbow_pitch, wrist_roll, wrist_pitch |
|
| | `action` | float32 | [5] | base_yaw, base_pitch, elbow_pitch, wrist_roll, wrist_pitch |
|
| | `observation.human` | float32 | [14] | head_yaw, head_pitch, head_roll, head_x, head_y, head_z, brow_l, brow_r, ... |
|
| | `observation.audio_features` | float32 | [66] | mel_00, mel_01, mel_02, mel_03, mel_04, mel_05, mel_06, mel_07, ... |
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| | `observation.speaking` | float32 | [1] | |
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| | `observation.environment_state` | float32 | [67] | mel_00, mel_01, mel_02, mel_03, mel_04, mel_05, mel_06, mel_07, ... |
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| | `timestamp` | float32 | [1] | |
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| | `frame_index` | int64 | [1] | |
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| | `episode_index` | int64 | [1] | |
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| | `index` | int64 | [1] | |
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| | `task_index` | int64 | [1] | |
|
|
|
| ## Episodes
|
|
|
| One episode per contiguous face-tracked run (>= 3 s) of a source clip, split into pieces of
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| <= 20 s. `action[t] = observation.state[t+1]` inside a run (the run's last frame holds).
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| Joint values are in the robot's own units (see the `names` and the robot's `ROBOT.md`).
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| `observation.environment_state` duplicates the speech features + speaking flag under the key
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| lerobot's ACT / Diffusion policies require when there is no camera.
|
|
|
| ## Sources and licenses
|
|
|
| | clip | episodes | frames | license | source |
|
| |---|---|---|---|---|
|
| | cbp_vlog_day2 | 2 | 783 | Public Domain | [Video Blog- CBP Super Bowl LII Countdown to Kickoff - Day 2.webm](https://commons.wikimedia.org/wiki/File:Video_Blog-_CBP_Super_Bowl_LII_Countdown_to_Kickoff_-_Day_2.webm) |
|
| | kende_interview_2014 | 12 | 6112 | CC-BY-3.0 | [Internet Hall of Fame 2014 Michael Kende interview.webm](https://commons.wikimedia.org/wiki/File:Internet_Hall_of_Fame_2014_Michael_Kende_interview.webm) |
|
| | obama_2014_09_13 | 12 | 6708 | Public Domain | [2014-09-13 President Obama's Weekly Address.webm](https://commons.wikimedia.org/wiki/File:2014-09-13_President_Obama%27s_Weekly_Address.webm) |
|
| | obama_2015_02_07 | 9 | 5341 | Public Domain | [2015-02-07 President Obama's Weekly Address.webm](https://commons.wikimedia.org/wiki/File:2015-02-07_President_Obama%27s_Weekly_Address.webm) |
|
| | royal_society_cloke | 16 | 7253 | CC-BY-3.0 | [Interview on extreme weather with physical geographer Hannah Cloke – The Royal Society.webm](https://commons.wikimedia.org/wiki/File:Interview_on_extreme_weather_with_physical_geographer_Hannah_Cloke_%E2%80%93_The_Royal_Society.webm) |
|
| | sd_rapper_interview | 2 | 577 | Public Domain | [Local San Diego Rapper Interview](https://archive.org/details/Chuck_San_Diego_LocalRapper) |
|
|
|
| Source videos are public-domain or CC-BY works (license evidence is recorded per clip in the
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| animacy human-motion dataset); the derived motion is released CC-BY-4.0 with attribution to the
|
| sources above. No no-derivatives or non-commercial material is included by construction.
|
|
|
| ## meta/info.json
|
|
|
| ```json
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| {
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| "codebase_version": "v3.0",
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| "fps": 30,
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| "features": {
|
| "observation.state": {
|
| "dtype": "float32",
|
| "shape": [
|
| 5
|
| ],
|
| "names": [
|
| "base_yaw",
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| "base_pitch",
|
| "elbow_pitch",
|
| "wrist_roll",
|
| "wrist_pitch"
|
| ]
|
| },
|
| "action": {
|
| "dtype": "float32",
|
| "shape": [
|
| 5
|
| ],
|
| "names": [
|
| "base_yaw",
|
| "base_pitch",
|
| "elbow_pitch",
|
| "wrist_roll",
|
| "wrist_pitch"
|
| ]
|
| },
|
| "observation.human": {
|
| "dtype": "float32",
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| "shape": [
|
| 14
|
| ],
|
| "names": [
|
| "head_yaw",
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| "head_pitch",
|
| "head_roll",
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| "head_x",
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| "head_y",
|
| "head_z",
|
| "brow_l",
|
| "brow_r",
|
| "brow_furrow",
|
| "torso_lean_fwd",
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| "torso_lean_side",
|
| "torso_yaw",
|
| "mouth_open",
|
| "smile"
|
| ]
|
| },
|
| "observation.audio_features": {
|
| "dtype": "float32",
|
| "shape": [
|
| 66
|
| ],
|
| "names": [
|
| "mel_00",
|
| "mel_01",
|
| "mel_02",
|
| "mel_03",
|
| "mel_04",
|
| "mel_05",
|
| "mel_06",
|
| "mel_07",
|
| "mel_08",
|
| "mel_09",
|
| "mel_10",
|
| "mel_11",
|
| "mel_12",
|
| "mel_13",
|
| "mel_14",
|
| "mel_15",
|
| "mel_16",
|
| "mel_17",
|
| "mel_18",
|
| "mel_19",
|
| "mel_20",
|
| "mel_21",
|
| "mel_22",
|
| "mel_23",
|
| "mel_24",
|
| "mel_25",
|
| "mel_26",
|
| "mel_27",
|
| "mel_28",
|
| "mel_29",
|
| "mel_30",
|
| "mel_31",
|
| "mel_32",
|
| "mel_33",
|
| "mel_34",
|
| "mel_35",
|
| "mel_36",
|
| "mel_37",
|
| "mel_38",
|
| "mel_39",
|
| "mel_40",
|
| "mel_41",
|
| "mel_42",
|
| "mel_43",
|
| "mel_44",
|
| "mel_45",
|
| "mel_46",
|
| "mel_47",
|
| "mel_48",
|
| "mel_49",
|
| "mel_50",
|
| "mel_51",
|
| "mel_52",
|
| "mel_53",
|
| "mel_54",
|
| "mel_55",
|
| "mel_56",
|
| "mel_57",
|
| "mel_58",
|
| "mel_59",
|
| "mel_60",
|
| "mel_61",
|
| "mel_62",
|
| "mel_63",
|
| "log_energy",
|
| "delta_log_energy"
|
| ]
|
| },
|
| "observation.speaking": {
|
| "dtype": "float32",
|
| "shape": [
|
| 1
|
| ],
|
| "names": null
|
| },
|
| "observation.environment_state": {
|
| "dtype": "float32",
|
| "shape": [
|
| 67
|
| ],
|
| "names": [
|
| "mel_00",
|
| "mel_01",
|
| "mel_02",
|
| "mel_03",
|
| "mel_04",
|
| "mel_05",
|
| "mel_06",
|
| "mel_07",
|
| "mel_08",
|
| "mel_09",
|
| "mel_10",
|
| "mel_11",
|
| "mel_12",
|
| "mel_13",
|
| "mel_14",
|
| "mel_15",
|
| "mel_16",
|
| "mel_17",
|
| "mel_18",
|
| "mel_19",
|
| "mel_20",
|
| "mel_21",
|
| "mel_22",
|
| "mel_23",
|
| "mel_24",
|
| "mel_25",
|
| "mel_26",
|
| "mel_27",
|
| "mel_28",
|
| "mel_29",
|
| "mel_30",
|
| "mel_31",
|
| "mel_32",
|
| "mel_33",
|
| "mel_34",
|
| "mel_35",
|
| "mel_36",
|
| "mel_37",
|
| "mel_38",
|
| "mel_39",
|
| "mel_40",
|
| "mel_41",
|
| "mel_42",
|
| "mel_43",
|
| "mel_44",
|
| "mel_45",
|
| "mel_46",
|
| "mel_47",
|
| "mel_48",
|
| "mel_49",
|
| "mel_50",
|
| "mel_51",
|
| "mel_52",
|
| "mel_53",
|
| "mel_54",
|
| "mel_55",
|
| "mel_56",
|
| "mel_57",
|
| "mel_58",
|
| "mel_59",
|
| "mel_60",
|
| "mel_61",
|
| "mel_62",
|
| "mel_63",
|
| "log_energy",
|
| "delta_log_energy",
|
| "speaking"
|
| ]
|
| },
|
| "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
|
| }
|
| },
|
| "total_episodes": 53,
|
| "total_frames": 26774,
|
| "total_tasks": 5,
|
| "chunks_size": 1000,
|
| "data_files_size_in_mb": 100,
|
| "video_files_size_in_mb": 200,
|
| "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| "video_path": null,
|
| "robot_type": "animacy/lamp",
|
| "splits": {
|
| "train": "0:53"
|
| }
|
| }
|
| ```
|
|
|
