1.34k episodes · 15 fps · 4 cameras · 640×480 av1
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "unitree_g1",
"total_episodes": 1338,
"total_frames": 270668,
"total_tasks": 5,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 15,
"splits": {
"train": "0:1338"
},
"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.images.cam_0": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"image"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.cam_1": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"image"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.cam_2": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"image"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.cam_3": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"image"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.state": {
"dtype": "float32",
"shape": [
31
],
"names": [
"q_7",
"q_8",
"q_9",
"q_10",
"q_11",
"q_12",
"q_13",
"q_14",
"q_15",
"q_16",
"q_17",
"q_18",
"q_19",
"q_20",
"q_21",
"q_22",
"q_23",
"q_24",
"q_25",
"q_26",
"q_27",
"q_28",
"q_29",
"q_30",
"q_31",
"q_32",
"q_33",
"q_34",
"q_35",
"hand_0",
"hand_1"
]
},
"action": {
"dtype": "float32",
"shape": [
31
],
"names": [
"q_7",
"q_8",
"q_9",
"q_10",
"q_11",
"q_12",
"q_13",
"q_14",
"q_15",
"q_16",
"q_17",
"q_18",
"q_19",
"q_20",
"q_21",
"q_22",
"q_23",
"q_24",
"q_25",
"q_26",
"q_27",
"q_28",
"q_29",
"q_30",
"q_31",
"q_32",
"q_33",
"q_34",
"q_35",
"hand_0",
"hand_1"
]
},
"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
}
}
}
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