--- license: cc-by-4.0 task_categories: - robotics tags: - LeRobot - animacy - expressive-robots - vla - lamp configs: - config_name: default 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 vector is `observation.state`, the next frame is `action`, and every frame carries the speech features, the speaking flag and the canonical human channels it was computed from, so the same dataset trains robot-space and human-space policies. **53 episodes, 26774 frames at 30 fps (14.9 min), 5 task strings.** ```python from lerobot.datasets.lerobot_dataset import LeRobotDataset ds = LeRobotDataset("squaredcuber/animacy-lamp-lerobot") item = ds[0] # observation.state, action, observation.human, observation.audio_features, observation.speaking, ... ``` ## 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, ... | | `observation.speaking` | float32 | [1] | | | `observation.environment_state` | float32 | [67] | mel_00, mel_01, mel_02, mel_03, mel_04, mel_05, mel_06, mel_07, ... | | `timestamp` | float32 | [1] | | | `frame_index` | int64 | [1] | | | `episode_index` | int64 | [1] | | | `index` | int64 | [1] | | | `task_index` | int64 | [1] | | ## Episodes One episode per contiguous face-tracked run (>= 3 s) of a source clip, split into pieces of <= 20 s. `action[t] = observation.state[t+1]` inside a run (the run's last frame holds). Joint values are in the robot's own units (see the `names` and the robot's `ROBOT.md`). `observation.environment_state` duplicates the speech features + speaking flag under the key 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 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 { "codebase_version": "v3.0", "fps": 30, "features": { "observation.state": { "dtype": "float32", "shape": [ 5 ], "names": [ "base_yaw", "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", "shape": [ 14 ], "names": [ "head_yaw", "head_pitch", "head_roll", "head_x", "head_y", "head_z", "brow_l", "brow_r", "brow_furrow", "torso_lean_fwd", "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" } } ```