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observation.state
sequence | action
sequence | timestamp
float32 | episode_index
int64 | frame_index
int64 | next.reward
float32 | next.done
bool | index
int64 | task_index
int64 |
|---|---|---|---|---|---|---|---|---|
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End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "unknown",
"total_episodes": 11834,
"total_frames": 610907,
"total_tasks": 1,
"total_videos": 11834,
"total_chunks": 12,
"chunks_size": 1000,
"fps": 3,
"splits": {
"train": "0:11834"
},
"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": "video",
"shape": [
120,
160,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 3.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"language_instruction": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"observation.state": {
"dtype": "float32",
"shape": [
9
],
"names": {
"motors": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5",
"motor_6",
"motor_7",
"motor_8"
]
}
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": {
"motors": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5",
"motor_6"
]
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"frame_index": {
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"shape": [
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],
"names": null
},
"next.reward": {
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],
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},
"next.done": {
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],
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},
"index": {
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],
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},
"task_index": {
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"shape": [
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],
"names": null
}
}
}
Citation
BibTeX:
@inproceedings{shah2021rapid,
title={Rapid Exploration for Open-World Navigation with Latent Goal Models},
author={Dhruv Shah and Benjamin Eysenbach and Nicholas Rhinehart and Sergey Levine},
booktitle={5th Annual Conference on Robot Learning },
year={2021},
url={https://openreview.net/forum?id=d_SWJhyKfVw}
}
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