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This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "franka_panda",
"total_episodes": 1661,
"total_frames": 846405,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 29,
"splits": {
"train": "0:1661"
},
"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": [
22
],
"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",
"state_20",
"state_21"
]
},
"action": {
"dtype": "float32",
"shape": [
2
],
"names": [
"action_0",
"action_1"
]
},
"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:
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