| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - panda |
| - coop_env |
| - multitask |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
|
|
| ## Dataset Description |
|
|
|
|
|
|
| - **Homepage:** [More Information Needed] |
| - **Paper:** [More Information Needed] |
| - **License:** apache-2.0 |
|
|
| ## Dataset Structure |
|
|
| [meta/info.json](meta/info.json): |
| ```json |
| { |
| "codebase_version": "v2.1", |
| "robot_type": "panda", |
| "total_episodes": 18, |
| "total_frames": 3085, |
| "total_tasks": 9, |
| "total_videos": 54, |
| "total_chunks": 1, |
| "chunks_size": 1000, |
| "fps": 12, |
| "splits": { |
| "train": "0:18" |
| }, |
| "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": { |
| "image": { |
| "dtype": "video", |
| "shape": [ |
| 256, |
| 256, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "info": { |
| "video.height": 256, |
| "video.width": 256, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 12, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "wrist_image": { |
| "dtype": "video", |
| "shape": [ |
| 256, |
| 256, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "info": { |
| "video.height": 256, |
| "video.width": 256, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 12, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "left_ego_image": { |
| "dtype": "video", |
| "shape": [ |
| 256, |
| 256, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "info": { |
| "video.height": 256, |
| "video.width": 256, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 12, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "state": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "state_0" |
| ] |
| }, |
| "delta_actions": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "delta_actions_0" |
| ] |
| }, |
| "env_state": { |
| "dtype": "float32", |
| "shape": [ |
| 13 |
| ], |
| "names": [ |
| "env_state_0" |
| ] |
| }, |
| "active_robot": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "active_robot_0" |
| ] |
| }, |
| "tcp_states": { |
| "dtype": "float32", |
| "shape": [ |
| 12 |
| ], |
| "names": [ |
| "tcp_states_0" |
| ] |
| }, |
| "gripper_states": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "gripper_states_0" |
| ] |
| }, |
| "gripper_commands": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "gripper_commands_0" |
| ] |
| }, |
| "joint_states": { |
| "dtype": "float32", |
| "shape": [ |
| 8 |
| ], |
| "names": [ |
| "joint_states_0" |
| ] |
| }, |
| "joint_actions": { |
| "dtype": "float32", |
| "shape": [ |
| 8 |
| ], |
| "names": [ |
| "joint_actions_0" |
| ] |
| }, |
| "qpos": { |
| "dtype": "float32", |
| "shape": [ |
| 9 |
| ], |
| "names": [ |
| "qpos_0" |
| ] |
| }, |
| "absolute_actions": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "absolute_actions_0" |
| ] |
| }, |
| "absolute_commands": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "absolute_commands_0" |
| ] |
| }, |
| "commanded_actions": { |
| "dtype": "float32", |
| "shape": [ |
| 12 |
| ], |
| "names": [ |
| "commanded_actions_0" |
| ] |
| }, |
| "absolute_actions_w_progress": { |
| "dtype": "float32", |
| "shape": [ |
| 8 |
| ], |
| "names": [ |
| "absolute_actions_w_progress_0" |
| ] |
| }, |
| "progress_state": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "progress_state_0" |
| ] |
| }, |
| "delta_action_w_progress": { |
| "dtype": "float32", |
| "shape": [ |
| 8 |
| ], |
| "names": [ |
| "delta_action_w_progress_0" |
| ] |
| }, |
| "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:** |
|
|
| ```bibtex |
| [More Information Needed] |
| ``` |
