Datasets:
metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- robotics
- umi
- act
- single-gripper
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": "umi_single_gripper",
"total_episodes": 891,
"total_frames": 97821,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:891"
},
"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.state": {
"dtype": "float32",
"shape": [
10
],
"names": [
"tcp_x_m",
"tcp_y_m",
"tcp_z_m",
"tcp_rot6d_0",
"tcp_rot6d_1",
"tcp_rot6d_2",
"tcp_rot6d_3",
"tcp_rot6d_4",
"tcp_rot6d_5",
"jaw_width_mm"
]
},
"observation.images.gopro": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"action": {
"dtype": "float32",
"shape": [
10
],
"names": [
"target_tcp_x_m",
"target_tcp_y_m",
"target_tcp_z_m",
"target_tcp_rot6d_0",
"target_tcp_rot6d_1",
"target_tcp_rot6d_2",
"target_tcp_rot6d_3",
"target_tcp_rot6d_4",
"target_tcp_rot6d_5",
"target_jaw_width_mm"
]
},
"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:
[More Information Needed]