OpenX-LeRobot
Collection
Open X-Embodiment datasets in LeRobot format with standard transfomation (https://github.com/Tavish9/any4lerobot)
•
34 items
•
Updated
•
23
Datasets:
Dataset Viewer
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observation.state
sequence | action
sequence | timestamp
float32 0
29
| frame_index
int64 0
145
| episode_index
int64 0
479
| index
int64 0
45.3k
| task_index
int64 0
5
|
|---|---|---|---|---|---|---|
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| 72
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| 74
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| 75
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| 76
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| 78
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| 79
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| 80
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| 81
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| 82
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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": "xarm",
"total_episodes": 480,
"total_frames": 45308,
"total_tasks": 6,
"total_videos": 480,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 5,
"splits": {
"train": "0:480"
},
"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.hand_image": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"rgb"
],
"info": {
"video.fps": 5.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.state": {
"dtype": "float32",
"shape": [
8
],
"names": {
"motors": [
"x",
"y",
"z",
"rx",
"ry",
"rz",
"rw",
"gripper"
]
}
},
"action": {
"dtype": "float32",
"shape": [
8
],
"names": {
"motors": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5",
"motor_6",
"gripper"
]
}
},
"timestamp": {
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"shape": [
1
],
"names": null
},
"frame_index": {
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1
],
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},
"episode_index": {
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"shape": [
1
],
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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:
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License:
apache-2.0
Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
45,308