hanapasta/airvla_dag4

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "fps": 10,
    "features": {
        "observation.images.camera1": {
            "dtype": "video",
            "shape": [
                512,
                512,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 512,
                "video.width": 512,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 20,
                "video.preset": null,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {},
                "is_depth_map": false
            }
        },
        "observation.images.camera2": {
            "dtype": "video",
            "shape": [
                512,
                512,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 512,
                "video.width": 512,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 20,
                "video.preset": null,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {},
                "is_depth_map": false
            }
        },
        "observation.images.camera3": {
            "dtype": "video",
            "shape": [
                512,
                512,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 512,
                "video.width": 512,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 20,
                "video.preset": null,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {},
                "is_depth_map": false
            }
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                10
            ],
            "names": [
                "x",
                "y",
                "z",
                "qw",
                "qx",
                "qy",
                "qz",
                "gripper_aperture",
                "joint1",
                "joint2"
            ]
        },
        "scene_state": {
            "dtype": "float32",
            "shape": [
                20
            ],
            "names": [
                "task_x",
                "task_y",
                "task_z",
                "task_qw",
                "task_qx",
                "task_qy",
                "task_qz",
                "other_x",
                "other_y",
                "other_z",
                "other_qw",
                "other_qx",
                "other_qy",
                "other_qz",
                "bin_x",
                "bin_y",
                "bin_yaw",
                "bin2_x",
                "bin2_y",
                "bin2_yaw"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "dx",
                "dy",
                "dz",
                "droll",
                "dpitch",
                "dyaw",
                "grip"
            ]
        },
        "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": 50,
    "total_frames": 29781,
    "total_tasks": 2,
    "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": "skygrip",
    "splits": {
        "train": "0:50"
    }
}

Citation

BibTeX:

[More Information Needed]