metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
data_files: data/*/*.parquet
This dataset was created using LeRobot.
Dataset Description
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": null,
"total_episodes": 1261,
"total_frames": 349685,
"total_tasks": 242,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:1261"
},
"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": {
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"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 20,
"video.codec": "h264",
"video.pix_fmt": "yuv420p"
},
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right_view": {
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"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 20,
"video.codec": "h264",
"video.pix_fmt": "yuv420p"
},
"info": {
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"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
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}
},
"observation.images.wrist_view": {
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256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
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"video.codec": "h264",
"video.pix_fmt": "yuv420p"
},
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"observation.state": {
"dtype": "float32",
"shape": [
53
],
"names": [
"state_0",
"state_1",
"state_2",
"state_3",
"state_4",
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"state_6",
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"state_8",
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"state_25",
"state_26",
"state_27",
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"state_31",
"state_32",
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"state_34",
"state_35",
"state_36",
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"state_48",
"state_49",
"state_50",
"state_51",
"state_52"
],
"fps": 20
},
"action": {
"dtype": "float32",
"shape": [
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],
"names": [
"action_0",
"action_1",
"action_2",
"action_3",
"action_4",
"action_5",
"action_6",
"action_7",
"action_8",
"action_9",
"action_10",
"action_11"
],
"fps": 20
},
"next.reward": {
"dtype": "float32",
"shape": [
1
],
"fps": 20
},
"next.done": {
"dtype": "bool",
"shape": [
1
],
"fps": 20
},
"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]