Datasets:
33 episodes · 30 fps · 3 cameras · 224×224 av1
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.images.robot0_agentview_left": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.robot0_agentview_right": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.robot0_eye_in_hand": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"ee_ori": {
"dtype": "float64",
"shape": [
3
],
"names": [
"ee_ori"
]
},
"ee_pos": {
"dtype": "float64",
"shape": [
3
],
"names": [
"ee_pos"
]
},
"ee_states": {
"dtype": "float64",
"shape": [
6
],
"names": [
"ee_states"
]
},
"gripper_states": {
"dtype": "float64",
"shape": [
16
],
"names": [
"gripper_states"
]
},
"joint_states": {
"dtype": "float64",
"shape": [
6
],
"names": [
"joint_states"
]
},
"observation.state": {
"dtype": "float64",
"shape": [
22
],
"names": {
"axes": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"gripper_0",
"gripper_1",
"gripper_2",
"gripper_3",
"gripper_4",
"gripper_5",
"gripper_6",
"gripper_7",
"gripper_8",
"gripper_9",
"gripper_10",
"gripper_11",
"gripper_12",
"gripper_13",
"gripper_14",
"gripper_15"
]
}
},
"observation.state.joint_states": {
"dtype": "float64",
"shape": [
6
],
"names": {
"axes": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5"
]
}
},
"observation.state.gripper_states": {
"dtype": "float64",
"shape": [
16
],
"names": {
"axes": [
"gripper_0",
"gripper_1",
"gripper_2",
"gripper_3",
"gripper_4",
"gripper_5",
"gripper_6",
"gripper_7",
"gripper_8",
"gripper_9",
"gripper_10",
"gripper_11",
"gripper_12",
"gripper_13",
"gripper_14",
"gripper_15"
]
}
},
"observation.state.ee_states": {
"dtype": "float64",
"shape": [
6
],
"names": {
"axes": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
]
}
},
"action": {
"dtype": "float64",
"shape": [
22
],
"names": [
"action"
]
},
"dones": {
"dtype": "uint8",
"shape": [
1
],
"names": [
"dones"
]
},
"rewards": {
"dtype": "uint8",
"shape": [
1
],
"names": [
"rewards"
]
},
"robot_states": {
"dtype": "float64",
"shape": [
23
],
"names": [
"robot_states"
]
},
"states": {
"dtype": "float64",
"shape": [
208
],
"names": [
"states"
]
},
"task_clip_embedding": {
"dtype": "float32",
"shape": [
512
],
"names": [
"task_clip_embedding"
]
},
"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
}
},
"total_episodes": 33,
"total_frames": 31842,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"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",
"robot_type": "PandaOmron",
"splits": {
"train": "0:33"
}
}
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