README.md

metadata

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.

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:

{
    "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:

[More Information Needed]