metadata
license: apache-2.0
language:
- en
- zh
task_categories:
- robotics
tags:
- RobotCoin
- LeRobot
size_categories: <1K
configs:
- config_name: default
data_files: data/*/*.parquet
Dataset Authors
contributed by [RobotCoin] annotated by [RobotCoin]
Dataset Description
This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
- Homepage:
- Paper:
- License: apache-2.0
Dataset Tags
RobotCoin
LeRobot
Task Descriptions
tasks
build blocks
sub_tasks
Place the arch-shaped block in the center of view with the right gripper Grasp the triangle-shaped block with the right gripper Grasp the triangle-shaped block with the left gripper Grasp the box-shaped block with the left gripper Place the box-shaped block onto the arch-shaped block with the right gripper Grasp the arch-shaped block with the right gripper Grasp the box-shaped block with the right gripper Place the triangle-shaped block onto the box-shaped block with the left gripper Place the triangle-shaped block onto the box-shaped block with the right gripper Place the box-shaped block onto the arch-shaped block with the left gripper Place the arch-shaped block in the center of view with the left gripper Grasp the arch-shaped block with the left gripper
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "realman",
"total_episodes": 498,
"total_frames": 595002,
"total_tasks": 1,
"total_videos": 1494,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 25,
"splits": {
"train": "0:498"
},
"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": {
"observation.images.cam_high": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 25.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_left_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 25.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_right_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 25.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"states": {
"dtype": "float32",
"shape": [
30
],
"name": [
"right_arm_joint_1",
"right_arm_joint_2",
"right_arm_joint_3",
"right_arm_joint_4",
"right_arm_joint_5",
"right_arm_joint_6",
"right_arm_joint_7",
"right_gripper_joint",
"right_end_effector_positions_x",
"right_end_effector_positions_y",
"right_end_effector_positions_z",
"right_end_effector_quat_x",
"right_end_effector_quat_y",
"right_end_effector_quat_z",
"right_end_effector_quat_w",
"left_arm_joint_1",
"left_arm_joint_2",
"left_arm_joint_3",
"left_arm_joint_4",
"left_arm_joint_5",
"left_arm_joint_6",
"left_arm_joint_7",
"left_gripper_joint",
"left_end_effector_positions_x",
"left_end_effector_positions_y",
"left_end_effector_positions_z",
"left_end_effector_quat_x",
"left_end_effector_quat_y",
"left_end_effector_quat_z",
"left_end_effector_quat_w"
]
},
"actions": {
"dtype": "float32",
"shape": [
30
],
"name": [
"right_arm_joint_1",
"right_arm_joint_2",
"right_arm_joint_3",
"right_arm_joint_4",
"right_arm_joint_5",
"right_arm_joint_6",
"right_arm_joint_7",
"right_gripper_joint",
"right_end_effector_positions_x",
"right_end_effector_positions_y",
"right_end_effector_positions_z",
"right_end_effector_quat_x",
"right_end_effector_quat_y",
"right_end_effector_quat_z",
"right_end_effector_quat_w",
"left_arm_joint_1",
"left_arm_joint_2",
"left_arm_joint_3",
"left_arm_joint_4",
"left_arm_joint_5",
"left_arm_joint_6",
"left_arm_joint_7",
"left_gripper_joint",
"left_end_effector_positions_x",
"left_end_effector_positions_y",
"left_end_effector_positions_z",
"left_end_effector_quat_x",
"left_end_effector_quat_y",
"left_end_effector_quat_z",
"left_end_effector_quat_w"
]
},
"next.done": {
"dtype": "bool",
"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
}
}
}
Citation