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Datasets:
NatashaYang
/
robotwin_lerobot_dataset

Tasks:
Robotics
Modalities:
Image
Time-series
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
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1
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observation.state
listlengths
14
14
action
listlengths
14
14
observation.images.cam_high
imagewidth (px)
640
640
observation.images.cam_left_wrist
imagewidth (px)
640
640
observation.images.cam_right_wrist
imagewidth (px)
640
640
timestamp
float32
0
2.54
frame_index
int64
0
127
episode_index
int64
0
49
index
int64
0
6.01k
task_index
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1.8
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1.92
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1.96
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1.98
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99
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End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "aloha",
    "total_episodes": 50,
    "total_frames": 6012,
    "total_tasks": 48,
    "chunks_size": 1000,
    "fps": 50,
    "splits": {
        "train": "0:50"
    },
    "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": [
                14
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            "names": [
                [
                    "left_waist",
                    "left_shoulder",
                    "left_elbow",
                    "left_forearm_roll",
                    "left_wrist_angle",
                    "left_wrist_rotate",
                    "left_gripper",
                    "right_waist",
                    "right_shoulder",
                    "right_elbow",
                    "right_forearm_roll",
                    "right_wrist_angle",
                    "right_wrist_rotate",
                    "right_gripper"
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            ],
            "fps": 50
        },
        "action": {
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            "shape": [
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            "names": [
                [
                    "left_waist",
                    "left_shoulder",
                    "left_elbow",
                    "left_forearm_roll",
                    "left_wrist_angle",
                    "left_wrist_rotate",
                    "left_gripper",
                    "right_waist",
                    "right_shoulder",
                    "right_elbow",
                    "right_forearm_roll",
                    "right_wrist_angle",
                    "right_wrist_rotate",
                    "right_gripper"
                ]
            ],
            "fps": 50
        },
        "observation.images.cam_high": {
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            "shape": [
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        },
        "observation.images.cam_left_wrist": {
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        },
        "observation.images.cam_right_wrist": {
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        "timestamp": {
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        "frame_index": {
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        },
        "episode_index": {
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        "index": {
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        "task_index": {
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            "names": null,
            "fps": 50
        }
    },
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200
}

Citation

BibTeX:

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