Datasets:
30 episodes · 30 fps · 3 cameras · 1280×720 av1
This dataset was created using LeRobot.
Dataset Description
Recorded at 30 Hz with the barcode scanners read by the recorder: scan.barcode holds the barcode read just before each frame (0 = none). flare convert --stage starts stage 1 at the first scan of a registered barcode (a misread of one counts); 0b (a left release before the scan) is found at conversion, see the converted dataset.
| episode | length | stage 1 starts (first scan) | all scans (frame: item) |
|---|---|---|---|
| 0 | 30.8 s (923) | 12.3 s (frame 368) | 368: can |
| 1 | 36.6 s (1098) | 20.8 s (frame 624) | 624: coffee |
| 2 | 33.2 s (996) | 12.9 s (frame 386) | 386: spam |
| 3 | 31.7 s (950) | 13.6 s (frame 407) | 407: can |
| 4 | 37.8 s (1134) | 21.9 s (frame 656) | 656: coffee |
| 5 | 33.5 s (1004) | 13.4 s (frame 401) | 401: spam |
| 6 | 31.4 s (942) | 14.2 s (frame 425) | 425: can |
| 7 | 39.9 s (1197) | 22.0 s (frame 660) | 660: coffee |
| 8 | 33.8 s (1014) | 13.5 s (frame 406) | 406: spam |
| 9 | 44.4 s (1333) | 22.7 s (frame 681) | 681: can |
| 10 | 43.1 s (1293) | 26.2 s (frame 785) | 785: coffee |
| 11 | 33.7 s (1011) | 13.3 s (frame 400) | 400: spam |
| 12 | 40.6 s (1219) | 20.5 s (frame 616) | 616: can |
| 13 | 39.3 s (1180) | 23.0 s (frame 690) | 690: coffee |
| 14 | 32.1 s (963) | 11.9 s (frame 356) | 356: spam |
| 15 | 35.7 s (1071) | 15.7 s (frame 471) | 471: can |
| 16 | 39.3 s (1178) | 21.0 s (frame 629) | 629: coffee |
| 17 | 33.6 s (1007) | 12.8 s (frame 385) | 385: spam |
| 18 | 32.6 s (979) | 14.2 s (frame 427) | 427: can |
| 19 | 34.5 s (1034) | 15.2 s (frame 457) | 457: coffee |
| 20 | 33.0 s (991) | 13.3 s (frame 399) | 399: spam |
| 21 | 44.1 s (1323) | 22.6 s (frame 677) | 677: can |
| 22 | 41.8 s (1254) | 24.7 s (frame 740) | 740: coffee |
| 23 | 31.9 s (957) | 12.5 s (frame 375) | 375: spam |
| 24 | 31.9 s (956) | 13.5 s (frame 405) | 405: can |
| 25 | 39.3 s (1180) | 21.7 s (frame 650) | 650: coffee |
| 26 | 32.3 s (969) | 13.5 s (frame 405) | 405: spam |
| 27 | 34.8 s (1043) | 16.6 s (frame 499) | 499: can |
| 28 | 41.2 s (1236) | 24.5 s (frame 735) | 735: coffee |
| 29 | 28.7 s (860) | 12.3 s (frame 369) | 369: spam |
Every raw read (both scanners, duplicates included) is in scan_log.csv.
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "bi_piper_follower",
"total_episodes": 30,
"total_frames": 32295,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:30"
},
"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": {
"action": {
"dtype": "float32",
"names": [
"left_joint1.pos",
"left_joint2.pos",
"left_joint3.pos",
"left_joint4.pos",
"left_joint5.pos",
"left_joint6.pos",
"left_gripper.pos",
"right_joint1.pos",
"right_joint2.pos",
"right_joint3.pos",
"right_joint4.pos",
"right_joint5.pos",
"right_joint6.pos",
"right_gripper.pos",
"neck_pitch.pos",
"neck_yaw.pos"
],
"shape": [
16
]
},
"observation.state": {
"dtype": "float32",
"names": [
"left_joint1.pos",
"left_joint2.pos",
"left_joint3.pos",
"left_joint4.pos",
"left_joint5.pos",
"left_joint6.pos",
"left_gripper.pos",
"right_joint1.pos",
"right_joint2.pos",
"right_joint3.pos",
"right_joint4.pos",
"right_joint5.pos",
"right_joint6.pos",
"right_gripper.pos",
"neck_pitch.pos",
"neck_yaw.pos"
],
"shape": [
16
]
},
"observation.images.left_main": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 720,
"video.width": 1280,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"scan.barcode": {
"dtype": "int64",
"shape": [
1
],
"names": [
"barcode"
]
},
"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
}
}
}
Citation
BibTeX:
[More Information Needed]
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