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": "franka",
"total_episodes": 20,
"total_frames": 1809,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:20"
},
"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": {
"observation.state": {
"dtype": "float32",
"shape": [
24
],
"names": [
"joint_positions_0",
"joint_positions_1",
"joint_positions_2",
"joint_positions_3",
"joint_positions_4",
"joint_positions_5",
"joint_positions_6",
"joint_positions_7",
"joint_velocities_0",
"joint_velocities_1",
"joint_velocities_2",
"joint_velocities_3",
"joint_velocities_4",
"joint_velocities_5",
"joint_velocities_6",
"joint_velocities_7",
"cartesian_position_0",
"cartesian_position_1",
"cartesian_position_2",
"cartesian_position_3",
"cartesian_position_4",
"cartesian_position_5",
"cartesian_position_6",
"gripper_position_0"
]
},
"action": {
"dtype": "float32",
"shape": [
8
],
"names": [
"action_0",
"action_1",
"action_2",
"action_3",
"action_4",
"action_5",
"action_6",
"action_7"
]
},
"reward": {
"dtype": "float32",
"shape": [
1
],
"names": [
"reward"
]
},
"done": {
"dtype": "float32",
"shape": [
1
],
"names": [
"done"
]
},
"success": {
"dtype": "float32",
"shape": [
1
],
"names": [
"success"
]
},
"observation.joint_positions": {
"dtype": "float32",
"shape": [
8
],
"names": [
"joint_positions_0",
"joint_positions_1",
"joint_positions_2",
"joint_positions_3",
"joint_positions_4",
"joint_positions_5",
"joint_positions_6",
"joint_positions_7"
]
},
"observation.joint_velocities": {
"dtype": "float32",
"shape": [
8
],
"names": [
"joint_velocities_0",
"joint_velocities_1",
"joint_velocities_2",
"joint_velocities_3",
"joint_velocities_4",
"joint_velocities_5",
"joint_velocities_6",
"joint_velocities_7"
]
},
"observation.cartesian_position": {
"dtype": "float32",
"shape": [
7
],
"names": [
"cartesian_position_0",
"cartesian_position_1",
"cartesian_position_2",
"cartesian_position_3",
"cartesian_position_4",
"cartesian_position_5",
"cartesian_position_6"
]
},
"observation.gripper_position": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper_position_0"
]
},
"observation.images.wrist_left": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"info": {
"video.height": 720,
"video.width": 1280,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.side_view_1_left": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"info": {
"video.height": 720,
"video.width": 1280,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": 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
}
}
}
Citation
BibTeX:
[More Information Needed]