---
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]
```