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": "v2.1",
"robot_type": "panda",
"total_episodes": 5000,
"total_frames": 807133,
"total_tasks": 100,
"total_videos": 0,
"total_chunks": 5,
"chunks_size": 1000,
"fps": 30.0,
"splits": {
"train": "0:5000"
},
"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.image": {
"dtype": "image",
"shape": [
128,
128,
3
],
"names": [
"height",
"width",
"channel"
]
},
"observation.images.wrist_image": {
"dtype": "image",
"shape": [
128,
128,
3
],
"names": [
"height",
"width",
"channel"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
9
],
"names": {
"joints": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6"
],
"gripper": [
"gripper_left",
"gripper_right"
]
}
},
"observation.ee_state": {
"dtype": "float32",
"shape": [
7
],
"names": {
"ee_position": [
"pos_x",
"pos_y",
"pos_z"
],
"ee_orientation": [
"quat_x",
"quat_y",
"quat_z",
"quat_w"
]
}
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": {
"command": [
"tx",
"ty",
"tz",
"rx",
"ry",
"rz",
"gripper"
]
}
},
"next.done": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"episode.task_emb": {
"dtype": "float32",
"shape": [
384
],
"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
BibTeX:
[More Information Needed]