Tsagkas/lafa_v3
Robotics • Updated • 2
Search is not available for this dataset
action list | observation.state list | observation.vfm_features.wrist array 3D | observation.vfm_features.front array 3D | observation.skill_feature list | observation.object_feature list | observation.vlm_features.wrist array 3D | observation.vlm_features.front array 3D | timestamp float32 0 6.9 | frame_index int64 0 69 | episode_index int64 0 19 | index int64 0 1.19k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|
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This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 20,
"total_frames": 1194,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:20"
},
"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": {
"action": {
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"names": [
"ee.x",
"ee.y",
"ee.z",
"ee.wx",
"ee.wy",
"ee.wz",
"ee.gripper_pos"
],
"shape": [
7
]
},
"observation.state": {
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"names": [
"ee.gripper_pos",
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"ee.wy",
"ee.wz",
"ee.x",
"ee.y",
"ee.z"
],
"shape": [
7
]
},
"observation.images.wrist": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
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"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.front": {
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3
],
"names": [
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"channels"
],
"info": {
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"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
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}
},
"observation.vfm_features.wrist": {
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},
"observation.vfm_features.front": {
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16,
16,
768
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},
"observation.skill_feature": {
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"shape": [
1024
],
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},
"observation.object_feature": {
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1024
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},
"observation.vlm_features.wrist": {
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16,
16,
1024
],
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},
"observation.vlm_features.front": {
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16,
1024
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},
"timestamp": {
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1
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},
"frame_index": {
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"index": {
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"task_index": {
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],
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}
}
}
Citation
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