Hugging Face's logo

Datasets:
lerobot
/
xvla-soft-fold

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1M - 10M
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
1
aractingi HF Staff commited on
Commit
645f41c
·
verified ·
1 Parent(s): 7947cc1

Upload README.md with huggingface_hub

Browse files
Files changed (1) hide show
  1. README.md +296 -0
README.md ADDED
@@ -0,0 +1,296 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ---
2
+ license: apache-2.0
3
+ task_categories:
4
+ - robotics
5
+ tags:
6
+ - LeRobot
7
+ configs:
8
+ - config_name: default
9
+ data_files: data/*/*.parquet
10
+ ---
11
+
12
+ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
13
+
14
+ ## Dataset Description
15
+
16
+
17
+
18
+ - **Homepage:** [More Information Needed]
19
+ - **Paper:** [More Information Needed]
20
+ - **License:** apache-2.0
21
+
22
+ ## Dataset Structure
23
+
24
+ [meta/info.json](meta/info.json):
25
+ ```json
26
+ {
27
+ "codebase_version": "v3.0",
28
+ "robot_type": "franka",
29
+ "total_episodes": 1542,
30
+ "total_frames": 2852512,
31
+ "total_tasks": 1,
32
+ "chunks_size": 1000,
33
+ "data_files_size_in_mb": 100,
34
+ "video_files_size_in_mb": 500,
35
+ "fps": 20,
36
+ "splits": {
37
+ "train": "0:1542"
38
+ },
39
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
40
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
41
+ "features": {
42
+ "observation.images.cam_high": {
43
+ "dtype": "video",
44
+ "shape": [
45
+ 480,
46
+ 640,
47
+ 3
48
+ ],
49
+ "names": [
50
+ "height",
51
+ "width",
52
+ "rgb"
53
+ ],
54
+ "info": {
55
+ "video.height": 480,
56
+ "video.width": 640,
57
+ "video.codec": "av1",
58
+ "video.pix_fmt": "yuv420p",
59
+ "video.is_depth_map": false,
60
+ "video.fps": 20,
61
+ "video.channels": 3,
62
+ "has_audio": false
63
+ }
64
+ },
65
+ "observation.images.cam_left_wrist": {
66
+ "dtype": "video",
67
+ "shape": [
68
+ 480,
69
+ 640,
70
+ 3
71
+ ],
72
+ "names": [
73
+ "height",
74
+ "width",
75
+ "rgb"
76
+ ],
77
+ "info": {
78
+ "video.height": 480,
79
+ "video.width": 640,
80
+ "video.codec": "av1",
81
+ "video.pix_fmt": "yuv420p",
82
+ "video.is_depth_map": false,
83
+ "video.fps": 20,
84
+ "video.channels": 3,
85
+ "has_audio": false
86
+ }
87
+ },
88
+ "observation.images.cam_right_wrist": {
89
+ "dtype": "video",
90
+ "shape": [
91
+ 480,
92
+ 640,
93
+ 3
94
+ ],
95
+ "names": [
96
+ "height",
97
+ "width",
98
+ "rgb"
99
+ ],
100
+ "info": {
101
+ "video.height": 480,
102
+ "video.width": 640,
103
+ "video.codec": "av1",
104
+ "video.pix_fmt": "yuv420p",
105
+ "video.is_depth_map": false,
106
+ "video.fps": 20,
107
+ "video.channels": 3,
108
+ "has_audio": false
109
+ }
110
+ },
111
+ "observation.state": {
112
+ "dtype": "float32",
113
+ "shape": [
114
+ 96
115
+ ],
116
+ "names": [
117
+ "eef_euler_0",
118
+ "eef_euler_1",
119
+ "eef_euler_2",
120
+ "eef_euler_3",
121
+ "eef_euler_4",
122
+ "eef_euler_5",
123
+ "eef_euler_6",
124
+ "eef_euler_7",
125
+ "eef_euler_8",
126
+ "eef_euler_9",
127
+ "eef_euler_10",
128
+ "eef_euler_11",
129
+ "eef_euler_12",
130
+ "eef_euler_13",
131
+ "eef_quat_0",
132
+ "eef_quat_1",
133
+ "eef_quat_2",
134
+ "eef_quat_3",
135
+ "eef_quat_4",
136
+ "eef_quat_5",
137
+ "eef_quat_6",
138
+ "eef_quat_7",
139
+ "eef_quat_8",
140
+ "eef_quat_9",
141
+ "eef_quat_10",
142
+ "eef_quat_11",
143
+ "eef_quat_12",
144
+ "eef_quat_13",
145
+ "eef_quat_14",
146
+ "eef_quat_15",
147
+ "eef6d_0",
148
+ "eef6d_1",
149
+ "eef6d_2",
150
+ "eef6d_3",
151
+ "eef6d_4",
152
+ "eef6d_5",
153
+ "eef6d_6",
154
+ "eef6d_7",
155
+ "eef6d_8",
156
+ "eef6d_9",
157
+ "eef6d_10",
158
+ "eef6d_11",
159
+ "eef6d_12",
160
+ "eef6d_13",
161
+ "eef6d_14",
162
+ "eef6d_15",
163
+ "eef6d_16",
164
+ "eef6d_17",
165
+ "eef6d_18",
166
+ "eef6d_19",
167
+ "eef_left_time",
168
+ "eef_right_time",
169
+ "qpos_0",
170
+ "qpos_1",
171
+ "qpos_2",
172
+ "qpos_3",
173
+ "qpos_4",
174
+ "qpos_5",
175
+ "qpos_6",
176
+ "qpos_7",
177
+ "qpos_8",
178
+ "qpos_9",
179
+ "qpos_10",
180
+ "qpos_11",
181
+ "qpos_12",
182
+ "qpos_13",
183
+ "qvel_0",
184
+ "qvel_1",
185
+ "qvel_2",
186
+ "qvel_3",
187
+ "qvel_4",
188
+ "qvel_5",
189
+ "qvel_6",
190
+ "qvel_7",
191
+ "qvel_8",
192
+ "qvel_9",
193
+ "qvel_10",
194
+ "qvel_11",
195
+ "qvel_12",
196
+ "qvel_13",
197
+ "effort_0",
198
+ "effort_1",
199
+ "effort_2",
200
+ "effort_3",
201
+ "effort_4",
202
+ "effort_5",
203
+ "effort_6",
204
+ "effort_7",
205
+ "effort_8",
206
+ "effort_9",
207
+ "effort_10",
208
+ "effort_11",
209
+ "effort_12",
210
+ "effort_13",
211
+ "qpos_left_time",
212
+ "qpos_right_time"
213
+ ]
214
+ },
215
+ "action": {
216
+ "dtype": "float32",
217
+ "shape": [
218
+ 14
219
+ ],
220
+ "names": {
221
+ "motors": [
222
+ "joint_action_0",
223
+ "joint_action_1",
224
+ "joint_action_2",
225
+ "joint_action_3",
226
+ "joint_action_4",
227
+ "joint_action_5",
228
+ "joint_action_6",
229
+ "joint_action_7",
230
+ "joint_action_8",
231
+ "joint_action_9",
232
+ "joint_action_10",
233
+ "joint_action_11",
234
+ "joint_action_12",
235
+ "joint_action_13"
236
+ ]
237
+ }
238
+ },
239
+ "time_stamp": {
240
+ "dtype": "float32",
241
+ "shape": [
242
+ 1
243
+ ],
244
+ "names": {
245
+ "values": [
246
+ "global_timestamp"
247
+ ]
248
+ }
249
+ },
250
+ "timestamp": {
251
+ "dtype": "float32",
252
+ "shape": [
253
+ 1
254
+ ],
255
+ "names": null
256
+ },
257
+ "frame_index": {
258
+ "dtype": "int64",
259
+ "shape": [
260
+ 1
261
+ ],
262
+ "names": null
263
+ },
264
+ "episode_index": {
265
+ "dtype": "int64",
266
+ "shape": [
267
+ 1
268
+ ],
269
+ "names": null
270
+ },
271
+ "index": {
272
+ "dtype": "int64",
273
+ "shape": [
274
+ 1
275
+ ],
276
+ "names": null
277
+ },
278
+ "task_index": {
279
+ "dtype": "int64",
280
+ "shape": [
281
+ 1
282
+ ],
283
+ "names": null
284
+ }
285
+ }
286
+ }
287
+ ```
288
+
289
+
290
+ ## Citation
291
+
292
+ **BibTeX:**
293
+
294
+ ```bibtex
295
+ [More Information Needed]
296
+ ```