Episodes Preview spot Visualizer
1 episodes · 15 fps · 3 cameras · 480×640 av1

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "fps": 15,
    "features": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                19
            ],
            "names": [
                "arm_el0",
                "arm_el1",
                "arm_f1x",
                "arm_sh0",
                "arm_sh1",
                "arm_wr0",
                "arm_wr1",
                "front_left_hip_x",
                "front_left_hip_y",
                "front_left_knee",
                "front_right_hip_x",
                "front_right_hip_y",
                "front_right_knee",
                "rear_left_hip_x",
                "rear_left_hip_y",
                "rear_left_knee",
                "rear_right_hip_x",
                "rear_right_hip_y",
                "rear_right_knee"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "arm_sh0",
                "arm_sh1",
                "arm_el0",
                "arm_el1",
                "arm_wr0",
                "arm_wr1",
                "gripper"
            ]
        },
        "observation.velocity": {
            "dtype": "float32",
            "shape": [
                19
            ],
            "names": [
                "arm_el0",
                "arm_el1",
                "arm_f1x",
                "arm_sh0",
                "arm_sh1",
                "arm_wr0",
                "arm_wr1",
                "front_left_hip_x",
                "front_left_hip_y",
                "front_left_knee",
                "front_right_hip_x",
                "front_right_hip_y",
                "front_right_knee",
                "rear_left_hip_x",
                "rear_left_hip_y",
                "rear_left_knee",
                "rear_right_hip_x",
                "rear_right_hip_y",
                "rear_right_knee"
            ]
        },
        "observation.effort": {
            "dtype": "float32",
            "shape": [
                19
            ],
            "names": [
                "arm_el0",
                "arm_el1",
                "arm_f1x",
                "arm_sh0",
                "arm_sh1",
                "arm_wr0",
                "arm_wr1",
                "front_left_hip_x",
                "front_left_hip_y",
                "front_left_knee",
                "front_right_hip_x",
                "front_right_hip_y",
                "front_right_knee",
                "rear_left_hip_x",
                "rear_left_hip_y",
                "rear_left_knee",
                "rear_right_hip_x",
                "rear_right_hip_y",
                "rear_right_knee"
            ]
        },
        "observation.gripper": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "aperture"
            ]
        },
        "observation.wrist_pose": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "x",
                "y",
                "z",
                "qx",
                "qy",
                "qz",
                "qw"
            ]
        },
        "observation.ee_force": {
            "dtype": "float32",
            "shape": [
                3
            ],
            "names": [
                "fx",
                "fy",
                "fz"
            ]
        },
        "observation.ee_pose": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "x",
                "y",
                "z",
                "qx",
                "qy",
                "qz",
                "qw"
            ]
        },
        "observation.images.frontright": {
            "dtype": "video",
            "shape": [
                640,
                480,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 640,
                "video.width": 480,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.fps": 15,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": 12,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {},
                "is_depth_map": false
            }
        },
        "observation.images.hand": {
            "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.fps": 15,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": 12,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {},
                "is_depth_map": false
            }
        },
        "observation.images.frontleft": {
            "dtype": "video",
            "shape": [
                640,
                480,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 640,
                "video.width": 480,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.fps": 15,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": 12,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {},
                "is_depth_map": false
            }
        },
        "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": 1,
    "total_frames": 977,
    "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": "spot",
    "splits": {
        "train": "0:1"
    }
}

Citation

BibTeX:

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