Buckets:

---

pepijn223

/

robocasa-stream

This dataset was created using LeRobot.

Dataset Description

• Homepage: [More Information Needed]
• Paper: [More Information Needed]
• License: apache-2.0

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "fps": 20,
    "features": {
        "observation.images.robot0_agentview_left": {
            "dtype": "video",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "video_info": {
                "video.fps": 20,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            },
            "info": {
                "video.height": 256,
                "video.width": 256,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false,
                "video.extra_options": null,
                "video.preset": null,
                "video.crf": null,
                "video.g": null,
                "video.fast_decode": null,
                "video.video_backend": "pyav"
            }
        },
        "observation.images.robot0_agentview_right": {
            "dtype": "video",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "video_info": {
                "video.fps": 20,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            },
            "info": {
                "video.height": 256,
                "video.width": 256,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false,
                "video.extra_options": null,
                "video.preset": null,
                "video.crf": null,
                "video.g": null,
                "video.fast_decode": null,
                "video.video_backend": "pyav"
            }
        },
        "observation.images.robot0_eye_in_hand": {
            "dtype": "video",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "video_info": {
                "video.fps": 20,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            },
            "info": {
                "video.height": 256,
                "video.width": 256,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false,
                "video.extra_options": null,
                "video.preset": null,
                "video.crf": null,
                "video.g": null,
                "video.fast_decode": null,
                "video.video_backend": "pyav"
            }
        },
        "action": {
            "dtype": "float32",
            "shape": [
                12
            ],
            "fps": 20
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                16
            ],
            "names": [
                "state_0",
                "state_1",
                "state_2",
                "state_3",
                "state_4",
                "state_5",
                "state_6",
                "state_7",
                "state_8",
                "state_9",
                "state_10",
                "state_11",
                "state_12",
                "state_13",
                "state_14",
                "state_15"
            ],
            "fps": 20
        },
        "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
        }
    },
    "total_episodes": 32043,
    "total_frames": 29106226,
    "total_tasks": 4740,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "robot_type": "robocasa",
    "splits": {
        "train": "0:32043"
    }
}

Citation

BibTeX:

[More Information Needed]