Datasets:
| 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). | |
| ## 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": 8000, | |
| "total_frames": 48000, | |
| "total_tasks": 1, | |
| "chunks_size": 1000, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 500, | |
| "fps": 10, | |
| "splits": { | |
| "train": "0:8000" | |
| }, | |
| "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", | |
| "video_path": null, | |
| "features": { | |
| "observation.image": { | |
| "dtype": "image", | |
| "shape": [ | |
| 128, | |
| 128, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ] | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": [ | |
| "picker1_x", | |
| "picker1_y", | |
| "picker1_z", | |
| "picker2_x", | |
| "picker2_y", | |
| "picker2_z" | |
| ] | |
| }, | |
| "observation.environment_state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 12 | |
| ], | |
| "names": [ | |
| "kp1_x", | |
| "kp1_y", | |
| "kp1_z", | |
| "kp2_x", | |
| "kp2_y", | |
| "kp2_z", | |
| "kp3_x", | |
| "kp3_y", | |
| "kp3_z", | |
| "kp4_x", | |
| "kp4_y", | |
| "kp4_z" | |
| ] | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 12 | |
| ], | |
| "names": [ | |
| "a0", | |
| "a1", | |
| "a2", | |
| "a3", | |
| "a4", | |
| "a5", | |
| "a6", | |
| "a7", | |
| "a8", | |
| "a9", | |
| "a10", | |
| "a11" | |
| ] | |
| }, | |
| "next.reward": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "next.done": { | |
| "dtype": "bool", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "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 | |
| } | |
| }, | |
| "metadata": { | |
| "env_kwargs": { | |
| "observation_mode": "key_point", | |
| "action_mode": "pickerpickandplace", | |
| "num_picker": 2, | |
| "render": true, | |
| "headless": 1, | |
| "horizon": 6, | |
| "action_repeat": 1, | |
| "render_mode": "cloth", | |
| "num_variations": 1000, | |
| "use_cached_states": true, | |
| "deterministic": false, | |
| "save_cached_states": false, | |
| "ir_reward_weight": 0 | |
| } | |
| } | |
| } | |
| ``` | |
| ## Citation | |
| **BibTeX:** | |
| ```bibtex | |
| [More Information Needed] | |
| ``` |