Datasets:
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": "v2.1",
"robot_type": "a2d",
"total_episodes": 100,
"total_frames": 90641,
"total_tasks": 1,
"total_videos": 300,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30.0,
"splits": {
"train": "0:100"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"timestamp": {
"dtype": "float64",
"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
},
"observation.images.head_color": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.fps": 30.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.hand_left_color": {
"dtype": "video",
"shape": [
480,
848,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.fps": 30.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.hand_right_color": {
"dtype": "video",
"shape": [
480,
848,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.fps": 30.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.state": {
"dtype": "float32",
"name": {
"left_arm_joint": [
"position_1",
"position_2",
"position_3",
"position_4",
"position_5",
"position_6",
"position_7"
],
"right_arm_joint": [
"position_1",
"position_2",
"position_3",
"position_4",
"position_5",
"position_6",
"position_7"
],
"left_gripper": [
"range"
],
"right_gripper": [
"range"
],
"head": [
"yaw",
"pitch"
],
"waist": [
"pitch",
"lift"
]
},
"shape": [
20
]
},
"action": {
"dtype": "float32",
"name": {
"left_arm_joint": [
"position_1",
"position_2",
"position_3",
"position_4",
"position_5",
"position_6",
"position_7"
],
"right_arm_joint": [
"position_1",
"position_2",
"position_3",
"position_4",
"position_5",
"position_6",
"position_7"
],
"left_gripper": [
"range"
],
"right_gripper": [
"range"
],
"head": [
"yaw",
"pitch"
],
"waist": [
"pitch",
"lift"
]
},
"shape": [
20
]
},
"next.done": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"subtask": {
"dtype": "string",
"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
[More Information Needed]