Datasets:
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"fps": 15,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
15
],
"names": [
"left_joint_1.cos",
"left_joint_1.sin",
"left_joint_2.cos",
"left_joint_2.sin",
"left_joint_3.cos",
"left_joint_3.sin",
"left_joint_4.cos",
"left_joint_4.sin",
"left_joint_5.cos",
"left_joint_5.sin",
"left_joint_6.cos",
"left_joint_6.sin",
"left_joint_7.cos",
"left_joint_7.sin",
"left_gripper.pos"
]
},
"action": {
"dtype": "float32",
"shape": [
15
],
"names": [
"left_joint_1.cos",
"left_joint_1.sin",
"left_joint_2.cos",
"left_joint_2.sin",
"left_joint_3.cos",
"left_joint_3.sin",
"left_joint_4.cos",
"left_joint_4.sin",
"left_joint_5.cos",
"left_joint_5.sin",
"left_joint_6.cos",
"left_joint_6.sin",
"left_joint_7.cos",
"left_joint_7.sin",
"left_gripper.pos"
]
},
"observation.images.head": {
"dtype": "video",
"shape": [
480,
848,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 848,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.fps": 15,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": null,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {
"bf": 0
},
"is_depth_map": false
}
},
"observation.images.wrist_left": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.fps": 15,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": null,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {
"bf": 0
},
"is_depth_map": false
}
},
"aux.joints_deg": {
"dtype": "float32",
"shape": [
8
],
"names": [
"left_joint_1.deg",
"left_joint_2.deg",
"left_joint_3.deg",
"left_joint_4.deg",
"left_joint_5.deg",
"left_joint_6.deg",
"left_joint_7.deg",
"left_gripper.pos"
]
},
"aux.action_joints_deg": {
"dtype": "float32",
"shape": [
8
],
"names": [
"left_joint_1.deg",
"left_joint_2.deg",
"left_joint_3.deg",
"left_joint_4.deg",
"left_joint_5.deg",
"left_joint_6.deg",
"left_joint_7.deg",
"left_gripper.pos"
]
},
"aux.eef_target": {
"dtype": "float32",
"shape": [
10
],
"names": [
"left.x",
"left.y",
"left.z",
"left.r0",
"left.r1",
"left.r2",
"left.r3",
"left.r4",
"left.r5",
"left_gripper.pos"
]
},
"aux.torque": {
"dtype": "float32",
"shape": [
7
],
"names": [
"left_joint_1.torque",
"left_joint_2.torque",
"left_joint_3.torque",
"left_joint_4.torque",
"left_joint_5.torque",
"left_joint_6.torque",
"left_joint_7.torque"
]
},
"aux.idle_joints_deg": {
"dtype": "float32",
"shape": [
8
],
"names": [
"right_joint_1.deg",
"right_joint_2.deg",
"right_joint_3.deg",
"right_joint_4.deg",
"right_joint_5.deg",
"right_joint_6.deg",
"right_joint_7.deg",
"right_gripper.pos"
]
},
"aux.lag_deg": {
"dtype": "float32",
"shape": [
1
],
"names": [
"left.lag_deg"
]
},
"aux.elapsed_s": {
"dtype": "float32",
"shape": [
1
],
"names": [
"elapsed_s"
]
},
"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": 20,
"total_frames": 13218,
"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": "vimo",
"splits": {
"train": "0:20"
}
}
Citation
BibTeX:
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