metadata
license: mit
task_categories:
- robotics
tags:
- LeRobot
- d3il
- imitation-learning
configs:
- config_name: default
data_files: data/*/*.parquet
This dataset was created using LeRobot.
Dataset Description
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: mit
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "franka_panda",
"total_episodes": 1000,
"total_frames": 193881,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 29,
"splits": {
"train": "0:1000"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
20
],
"names": [
"state_0",
"state_1",
"state_2",
"state_3",
"state_4",
"state_5",
"state_6",
"state_7",
"state_8",
"state_9",
"state_10",
"state_11",
"state_12",
"state_13",
"state_14",
"state_15",
"state_16",
"state_17",
"state_18",
"state_19"
]
},
"action": {
"dtype": "float32",
"shape": [
3
],
"names": [
"action_0",
"action_1",
"action_2"
]
},
"observation.images.bp_cam": {
"dtype": "video",
"shape": [
96,
96,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 96,
"video.width": 96,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 29,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.inhand_cam": {
"dtype": "video",
"shape": [
96,
96,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 96,
"video.width": 96,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 29,
"video.channels": 3,
"has_audio": false
}
},
"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]