metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
data_files: data/*/*.parquet
This dataset was created using LeRobot.
It is a LeRobot v3.0 conversion of the language_table_sim dataset from the Language Table project (Google Research).
The original RLDS data was streamed from gs://gresearch/robotics/language_table_sim/0.0.1/,
converted to LeRobot v2.0 format preserving all fields (action, state, effector target,
reward, done, instruction), then restructured to v3.0 with lossless video concatenation.
Dataset Description
- Homepage: https://github.com/google-research/language-table
- Paper: https://arxiv.org/abs/2210.10997
- License: apache-2.0
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "xarm",
"total_episodes": 181020,
"total_frames": 4484403,
"total_tasks": 78627,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:181020"
},
"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.rgb": {
"dtype": "video",
"shape": [
360,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"video_info": {
"video.fps": 10.0,
"video.height": 360,
"video.width": 640,
"video.channels": 3,
"video.codec": "libx264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.state": {
"dtype": "float32",
"shape": [
2
],
"names": {
"motors": [
"x",
"y"
]
},
"fps": 10
},
"observation.effector_target_translation": {
"dtype": "float32",
"shape": [
2
],
"names": {
"motors": [
"x",
"y"
]
},
"fps": 10
},
"action": {
"dtype": "float32",
"shape": [
2
],
"names": {
"motors": [
"x",
"y"
]
},
"fps": 10
},
"next.reward": {
"dtype": "float32",
"shape": [
1
],
"names": null,
"fps": 10
},
"next.done": {
"dtype": "bool",
"shape": [
1
],
"names": null,
"fps": 10
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null,
"fps": 10
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 10
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 10
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 10
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 10
}
},
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200
}