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Datasets:
yanovsky
/
dart

Tasks:
Robotics
Modalities:
Tabular
Time-series
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
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+ ---
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+ license: apache-2.0
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+ task_categories:
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+ - robotics
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+ tags:
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+ - LeRobot
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+ configs:
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+ - config_name: default
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+ data_files: data/*/*.parquet
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+ ---
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+
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+ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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+
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+ ## Dataset Description
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+
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+
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+
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+ - **Homepage:** [More Information Needed]
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+ - **Paper:** [More Information Needed]
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+ - **License:** apache-2.0
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+
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+ ## Dataset Structure
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+
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+ [meta/info.json](meta/info.json):
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+ ```json
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+ {
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+ "codebase_version": "v2.1",
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+ "robot_type": null,
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+ "total_episodes": 12,
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+ "total_frames": 35452,
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+ "total_tasks": 1,
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+ "total_videos": 0,
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+ "total_chunks": 1,
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+ "chunks_size": 1000,
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+ "fps": 50,
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+ "splits": {
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+ "train": "0:12"
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+ },
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+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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+ "video_path": null,
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+ "features": {
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+ "observation.state": {
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+ "dtype": "float32",
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+ "shape": [
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+ 16
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+ ],
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+ "names": [
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+ "robot/left_waist",
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+ "robot/left_shoulder",
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+ "robot/left_elbow",
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+ "robot/left_forearm_roll",
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+ "robot/left_wrist_angle",
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+ "robot/left_wrist_rotate",
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+ "robot/left_left_finger",
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+ "robot/left_right_finger",
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+ "robot/right_waist",
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+ "robot/right_shoulder",
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+ "robot/right_elbow",
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+ "robot/right_forearm_roll",
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+ "robot/right_wrist_angle",
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+ "robot/right_wrist_rotate",
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+ "robot/right_left_finger",
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+ "robot/right_right_finger"
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+ ]
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+ },
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+ "observation.environment_state": {
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+ "dtype": "float32",
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+ "shape": [
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+ 14
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+ ],
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+ "names": [
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+ "bimanual_insertion_peg_px",
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+ "bimanual_insertion_peg_py",
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+ "bimanual_insertion_peg_pz",
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+ "bimanual_insertion_peg_qw",
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+ "bimanual_insertion_peg_qx",
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+ "bimanual_insertion_peg_qy",
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+ "bimanual_insertion_peg_qz",
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+ "bimanual_insertion_hole3_px",
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+ "bimanual_insertion_hole3_py",
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+ "bimanual_insertion_hole3_pz",
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+ "bimanual_insertion_hole3_qw",
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+ "bimanual_insertion_hole3_qx",
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+ "bimanual_insertion_hole3_qy",
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+ "bimanual_insertion_hole3_qz"
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+ ]
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+ },
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+ "observation.qvel": {
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+ "dtype": "float32",
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+ "shape": [
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+ 16
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+ ],
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+ "names": [
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+ "robot/left_waist",
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+ "robot/left_shoulder",
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+ "robot/left_elbow",
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+ "robot/left_forearm_roll",
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+ "robot/left_wrist_angle",
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+ "robot/left_wrist_rotate",
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+ "robot/left_left_finger",
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+ "robot/left_right_finger",
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+ "robot/right_waist",
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+ "robot/right_shoulder",
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+ "robot/right_elbow",
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+ "robot/right_forearm_roll",
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+ "robot/right_wrist_angle",
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+ "robot/right_wrist_rotate",
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+ "robot/right_left_finger",
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+ "robot/right_right_finger"
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+ ]
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+ },
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+ "observation.env_qvel": {
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+ "dtype": "float32",
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+ "shape": [
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+ 12
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+ ],
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+ "names": [
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+ "bimanual_insertion_peg_vx",
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+ "bimanual_insertion_peg_vy",
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+ "bimanual_insertion_peg_vz",
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+ "bimanual_insertion_peg_wx",
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+ "bimanual_insertion_peg_wy",
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+ "bimanual_insertion_peg_wz",
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+ "bimanual_insertion_hole3_vx",
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+ "bimanual_insertion_hole3_vy",
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+ "bimanual_insertion_hole3_vz",
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+ "bimanual_insertion_hole3_wx",
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+ "bimanual_insertion_hole3_wy",
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+ "bimanual_insertion_hole3_wz"
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+ ]
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+ },
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+ "action": {
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+ "dtype": "float32",
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+ "shape": [
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+ 14
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+ ],
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+ "names": [
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+ "robot/left_waist",
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+ "robot/left_shoulder",
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+ "robot/left_elbow",
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+ "robot/left_forearm_roll",
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+ "robot/left_wrist_angle",
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+ "robot/left_wrist_rotate",
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+ "robot/left_gripper",
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+ "robot/right_waist",
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+ "robot/right_shoulder",
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+ "robot/right_elbow",
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+ "robot/right_forearm_roll",
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+ "robot/right_wrist_angle",
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+ "robot/right_wrist_rotate",
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+ "robot/right_gripper"
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+ ]
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+ },
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+ "timestamp": {
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+ "dtype": "float32",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "episode_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "frame_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "task_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ }
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+ }
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+ }
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+ ```
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+
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+
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+ ## Citation
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+
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+ **BibTeX:**
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+
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+ ```bibtex
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+ [More Information Needed]
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+ ```