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Datasets:
typoverflow
/
droid

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10M - 100M
Tags:
LeRobot
droid
rlds
openx
franka
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
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 Community
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+ ---
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+ license: apache-2.0
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+ task_categories:
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+ - robotics
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+ tags:
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+ - LeRobot
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+ - LeRobot
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+ - droid
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+ - rlds
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+ - openx
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+ - franka
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+ configs:
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+ - config_name: default
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+ data_files: data/*/*.parquet
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+ ---
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+
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+ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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+
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+
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+ <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=typoverflow/droid">
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+ <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
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+ <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
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+ </a>
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+
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+
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+ ## Dataset Description
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+
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+
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+
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+ - **Homepage:** [More Information Needed]
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+ - **Paper:** [More Information Needed]
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+ - **License:** apache-2.0
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+
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+ ## Dataset Structure
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+
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+ [meta/info.json](meta/info.json):
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+ ```json
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+ {
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+ "codebase_version": "v3.0",
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+ "robot_type": "franka",
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+ "total_episodes": 95636,
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+ "total_frames": 27630353,
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+ "total_tasks": 49629,
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+ "chunks_size": 1000,
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+ "data_files_size_in_mb": 100,
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+ "video_files_size_in_mb": 200,
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+ "fps": 15,
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+ "splits": {
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+ "train": "0:95636"
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+ },
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+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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+ "features": {
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+ "observation.images.wrist_image_left": {
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+ "dtype": "video",
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+ "shape": [
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+ 180,
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+ 320,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "rgb"
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+ ],
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+ "info": {
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+ "video.height": 180,
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+ "video.width": 320,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "video.fps": 15,
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+ "video.channels": 3,
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+ "has_audio": false
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+ }
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+ },
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+ "observation.images.exterior_image_2_left": {
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+ "dtype": "video",
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+ "shape": [
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+ 180,
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+ 320,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "rgb"
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+ ],
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+ "info": {
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+ "video.height": 180,
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+ "video.width": 320,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "video.fps": 15,
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+ "video.channels": 3,
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+ "has_audio": false
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+ }
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+ },
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+ "observation.images.exterior_image_1_left": {
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+ "dtype": "video",
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+ "shape": [
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+ 180,
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+ 320,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "rgb"
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+ ],
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+ "info": {
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+ "video.height": 180,
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+ "video.width": 320,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "video.fps": 15,
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+ "video.channels": 3,
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+ "has_audio": false
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+ }
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+ },
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+ "state.eef_xyz": {
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+ "dtype": "float32",
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+ "shape": [
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+ 3
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+ ],
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+ "x",
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+ ]
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+ "shape": [
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+ 3
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+ ],
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+ "names": [
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+ "roll",
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+ "pitch",
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+ "yaw"
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+ ]
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+ ],
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+ "rot1",
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+ "rot2",
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+ "joint_3",
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+ "joint_4",
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+ "joint_5",
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+ "joint_6"
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+ ]
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+ ],
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+ "names": [
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+ "gripper"
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+ ]
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+ },
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+ "dtype": "float32",
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+ "shape": [
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+ ],
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+ "names": [
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+ "x",
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+ "y",
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+ "z",
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+ "rot2",
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+ "rot3",
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+ "rot4",
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+ "rot5",
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+ "gripper"
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+ ]
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+ ],
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+ "dtype": "float32",
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+ "shape": [
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+ ],
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+ "names": [
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+ "roll",
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+ "pitch",
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+ "yaw"
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+ ]
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+ },
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+ "shape": [
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+ "rot5",
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+ "shape": [
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+ ],
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+ "names": [
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+ "rot2",
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+ "rot3",
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+ "rot6"
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+ ]
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+ },
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+ ]
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+ },
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+ ],
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+ "names": [
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+ "joint_0",
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+ "joint_1",
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+ "joint_2",
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+ "joint_3",
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+ "joint_4",
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+ "joint_5",
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+ "joint_6"
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+ ]
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+ },
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+ "shape": [
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+ ],
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+ ]
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+ },
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+ "action": {
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+ "dtype": "float32",
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+ "shape": [
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+ 10
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+ ],
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+ "names": [
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+ "x",
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+ "y",
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+ "z",
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+ "rot1",
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+ "rot2",
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+ "rot3",
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+ "rot4",
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+ "rot5",
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+ "rot6",
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+ "gripper"
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+ ]
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+ },
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+ "timestamp": {
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+ "dtype": "float32",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "frame_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "episode_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "task_index": {
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ }
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+ }
438
+ }
439
+ ```
440
+
441
+
442
+ ## Citation
443
+
444
+ **BibTeX:**
445
+
446
+ ```bibtex
447
+ [More Information Needed]
448
+ ```