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---
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
This dataset contains 50 demonstrations per task from the Meta-world simulation benchmarks. Demonstrations are generated using expert policies.
Meta-world: https://arxiv.org/abs/1910.10897
We reposition the camera and flip the rendered images as follow:
```env.model.cam_pos[2] = [0.75, 0.075, 0.7]
```
- **Homepage:** [More Information Needed]
- **Paper:** [More Information Needed]
- **License:** apache-2.0
## Dataset Structure
[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v2.0",
"robot_type": "metaworld",
"total_episodes": 2500,
"total_frames": 204806,
"total_tasks": 49,
"total_videos": 0,
"total_chunks": 3,
"chunks_size": 1000,
"fps": 80,
"splits": {
"train": "0:2500"
},
"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.state": {
"dtype": "float32",
"shape": [
4
],
"names": {
"axes": null
}
},
"action": {
"dtype": "float32",
"shape": [
4
],
"names": {
"axes": [
"x",
"y",
"z",
"gripper"
]
}
},
"next.reward": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"next.success": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"observation.environment_state": {
"dtype": "float32",
"shape": [
39
],
"names": [
"keypoints"
]
},
"observation.image": {
"dtype": "image",
"shape": [
3,
480,
480
],
"names": [
"channels",
"height",
"width"
]
},
"task_id": {
"dtype": "int16",
"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
**BibTeX:**
```bibtex
[More Information Needed]
``` |