| | --- |
| | license: apache-2.0 |
| | task_categories: |
| | - robotics |
| | tags: |
| | - LeRobot |
| | 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": "v3.0", |
| | "robot_type": null, |
| | "total_episodes": 6, |
| | "total_frames": 600, |
| | "total_tasks": 1, |
| | "chunks_size": 1000, |
| | "data_files_size_in_mb": 100, |
| | "video_files_size_in_mb": 500, |
| | "fps": 10, |
| | "splits": { |
| | "train": "0:6" |
| | }, |
| | "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.image": { |
| | "dtype": "image", |
| | "shape": [ |
| | 96, |
| | 96, |
| | 3 |
| | ], |
| | "names": [ |
| | "height", |
| | "width", |
| | "channels" |
| | ] |
| | }, |
| | "observation.state": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 6 |
| | ], |
| | "names": [ |
| | "picker1_x", |
| | "picker1_y", |
| | "picker1_z", |
| | "picker2_x", |
| | "picker2_y", |
| | "picker2_z" |
| | ] |
| | }, |
| | "observation.environment_state": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 12 |
| | ], |
| | "names": null |
| | }, |
| | "action": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 8 |
| | ], |
| | "names": [ |
| | "a0", |
| | "a1", |
| | "a2", |
| | "a3", |
| | "a4", |
| | "a5", |
| | "a6", |
| | "a7" |
| | ] |
| | }, |
| | "next.reward": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": null |
| | }, |
| | "next.done": { |
| | "dtype": "bool", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": null |
| | }, |
| | "normalized_performance": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": null |
| | }, |
| | "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 |
| | } |
| | }, |
| | "metadata": { |
| | "env_kwargs": { |
| | "observation_mode": "key_point", |
| | "action_mode": "picker", |
| | "num_picker": 2, |
| | "render": true, |
| | "headless": true, |
| | "horizon": 100, |
| | "action_repeat": 8, |
| | "render_mode": "cloth", |
| | "num_variations": 40, |
| | "use_cached_states": true, |
| | "deterministic": false, |
| | "save_cached_states": false |
| | } |
| | } |
| | } |
| | ``` |
| |
|
| |
|
| | ## Citation |
| |
|
| | **BibTeX:** |
| |
|
| | ```bibtex |
| | [More Information Needed] |
| | ``` |
