zijian2022/xa4_100

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "fps": 20,
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        },
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        },
        "observation.state": {
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            "shape": [
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            ],
            "names": [
                "j0",
                "j1",
                "j2",
                "j3_sin",
                "j3_cos",
                "j4_sin",
                "j4_cos",
                "j5_sin",
                "j5_cos",
                "j7"
            ]
        },
        "observation.images.front": {
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                "video.fps": 30,
                "video.channels": 3,
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                "video.crf": null,
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                "video.video_backend": "pyav",
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            }
        },
        "observation.images.side": {
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            "shape": [
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            ],
            "names": [
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                "channels"
            ],
            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false,
                "video.crf": null,
                "video.extra_options": null,
                "video.g": null,
                "video.preset": null,
                "video.video_backend": "pyav",
                "video.fast_decode": null
            }
        },
        "action": {
            "dtype": "float32",
            "shape": [
                10
            ],
            "names": [
                "j0",
                "j1",
                "j2",
                "j3_sin",
                "j3_cos",
                "j4_sin",
                "j4_cos",
                "j5_sin",
                "j5_cos",
                "j7"
            ]
        }
    },
    "total_episodes": 97,
    "total_frames": 40916,
    "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": "fanuc",
    "splits": {
        "train": "0:97"
    }
}

Citation

BibTeX:

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