Datasets:
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": "v3.0",
"robot_type": null,
"total_episodes": 8000,
"total_frames": 48000,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 10,
"splits": {
"train": "0:8000"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": null,
"features": {
"observation.image": {
"dtype": "image",
"shape": [
128,
128,
3
],
"names": [
"height",
"width",
"channels"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"picker1_x",
"picker1_y",
"picker1_z",
"picker2_x",
"picker2_y",
"picker2_z"
]
},
"observation.environment_state": {
"dtype": "float32",
"shape": [
12
],
"names": [
"kp1_x",
"kp1_y",
"kp1_z",
"kp2_x",
"kp2_y",
"kp2_z",
"kp3_x",
"kp3_y",
"kp3_z",
"kp4_x",
"kp4_y",
"kp4_z"
]
},
"action": {
"dtype": "float32",
"shape": [
12
],
"names": [
"a0",
"a1",
"a2",
"a3",
"a4",
"a5",
"a6",
"a7",
"a8",
"a9",
"a10",
"a11"
]
},
"next.reward": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"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
}
},
"metadata": {
"env_kwargs": {
"observation_mode": "key_point",
"action_mode": "pickerpickandplace",
"num_picker": 2,
"render": true,
"headless": 1,
"horizon": 6,
"action_repeat": 1,
"render_mode": "cloth",
"num_variations": 1000,
"use_cached_states": true,
"deterministic": false,
"save_cached_states": false,
"ir_reward_weight": 0
}
}
}
Citation
BibTeX:
[More Information Needed]