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 | 47.7 s (1430) | 29.3 s (frame 880) | 880: can |
| 1 | 49.9 s (1497) | 34.1 s (frame 1023) | 1023: coffee |
| 2 | 30.8 s (924) | 12.2 s (frame 365) | 365: spam |
| 3 | 57.6 s (1729) | 39.4 s (frame 1183) | 1183: can |
| 4 | 55.8 s (1674) | 40.4 s (frame 1212) | 1212: coffee |
| 5 | 45.0 s (1351) | 34.9 s (frame 1048) | 1048: spam |
| 6 | 45.5 s (1366) | 27.4 s (frame 822) | 822: can |
| 7 | 48.2 s (1447) | 33.6 s (frame 1009) | 1009: coffee |
| 8 | 32.9 s (986) | 13.6 s (frame 407) | 407: spam |
| 9 | 50.9 s (1527) | 34.8 s (frame 1045) | 1045: can |
| 10 | 57.6 s (1728) | 42.1 s (frame 1262) | 1262: coffee |
| 11 | 45.3 s (1360) | 36.1 s (frame 1083) | 1083: spam |
| 12 | 39.6 s (1188) | 23.1 s (frame 692) | 692: can |
| 13 | 38.8 s (1164) | 22.3 s (frame 669) | 669: coffee |
| 14 | 31.5 s (945) | 12.8 s (frame 385) | 385: spam |
| 15 | 48.6 s (1458) | 28.4 s (frame 851) | 851: can |
| 16 | 49.7 s (1490) | 33.8 s (frame 1014) | 1014: coffee |
| 17 | 46.2 s (1385) | 35.4 s (frame 1063) | 1063: spam |
| 18 | 42.6 s (1279) | 23.1 s (frame 692) | 692: can |
| 19 | 47.7 s (1430) | 33.4 s (frame 1003) | 1003: coffee |
| 20 | 32.3 s (969) | 12.6 s (frame 379) | 379: spam |
| 21 | 55.2 s (1656) | 35.7 s (frame 1072) | 1072: can |
| 22 | 54.0 s (1619) | 39.7 s (frame 1192) | 1192: coffee |
| 23 | 43.6 s (1308) | 33.8 s (frame 1014) | 1014: spam |
| 24 | 41.0 s (1231) | 24.3 s (frame 728) | 728: can |
| 25 | 47.0 s (1411) | 31.4 s (frame 941) | 941: coffee |
| 26 | 29.1 s (872) | 10.5 s (frame 314) | 314: spam |
| 27 | 54.5 s (1636) | 36.4 s (frame 1092) | 1092: can |
| 28 | 55.2 s (1655) | 39.3 s (frame 1179) | 1179: coffee |
| 29 | 44.2 s (1326) | 35.2 s (frame 1056) | 1056: 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": 41041,
"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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