Datasets:
File size: 4,042 Bytes
dfae0da b09782b dfae0da |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 |
---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- libero
- mimicgen
- panda
- franka
configs:
- config_name: default
data_files: data/*/*.parquet
---
This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
## Dataset Description
This dataset is in lerobot format of version v2.1. (feel free to upgrade it to v3.0 using lerobot cli command)
It only includes the part of `Core` from https://robomimic.github.io/docs/datasets/mimicgen.html.
Therefore, in total, there are 120 human demonstrations / trajectories across 12 tasks.
Upstream files are from mimicgen :
```
coffee.hdf5 hammer_cleanup.hdf5 mug_cleanup.hdf5 pick_place.hdf5 stack.hdf5 threading.hdf5
coffee_preparation.hdf5 kitchen.hdf5 nut_assembly.hdf5 square.hdf5 stack_three.hdf5 three_piece_assembly.hdf5
```
I plan to push the part of `Source` which includes much more trajectories: 26,000 task demonstrations across 12 tasks (26 task variants)
Upstream files
```
coffee_d0.hdf5 coffee_preparation_d1.hdf5 kitchen_d1.hdf5 pick_place_d0.hdf5 stack_d0.hdf5 threading_d0.hdf5 three_piece_assembly_d1.hdf5
coffee_d1.hdf5 hammer_cleanup_d0.hdf5 mug_cleanup_d0.hdf5 square_d0.hdf5 stack_d1.hdf5 threading_d1.hdf5 three_piece_assembly_d2.hdf5
coffee_d2.hdf5 hammer_cleanup_d1.hdf5 mug_cleanup_d1.hdf5 square_d1.hdf5 stack_three_d0.hdf5 threading_d2.hdf5
coffee_preparation_d0.hdf5 kitchen_d0.hdf5 nut_assembly_d0.hdf5 square_d2.hdf5 stack_three_d1.hdf5 three_piece_assembly_d0.hdf5
```
- **Homepage:** [More Information Needed]
- **Paper:** [More Information Needed]
- **License:** apache-2.0
## Dataset Structure
[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 120,
"total_frames": 39977,
"total_tasks": 10,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:120"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"image": {
"dtype": "image",
"shape": [
84,
84,
3
],
"names": [
"height",
"width",
"channel"
]
},
"wrist_image": {
"dtype": "image",
"shape": [
84,
84,
3
],
"names": [
"height",
"width",
"channel"
]
},
"state": {
"dtype": "float32",
"shape": [
8
],
"names": [
"state"
]
},
"actions": {
"dtype": "float32",
"shape": [
7
],
"names": [
"actions"
]
},
"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:**
```bibtex
[More Information Needed]
``` |