|
|
--- |
|
|
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] |
|
|
``` |
