metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
data_files: data/*/*.parquet
This dataset was created using LeRobot and was part of our work on the Action Chunking with Transformers for Image-Based Spacecraft Guidance and Control paper.
Dataset Description
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "spacecraft",
"total_episodes": 100,
"total_frames": 6539,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 1,
"splits": {
"train": "0:100"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": null,
"features": {
"action": {
"dtype": "float32",
"shape": [
6
],
"names": [
"Tx",
"Ty",
"Tz",
"Lx",
"Ly",
"Lz"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
14
],
"names": [
"x",
"y",
"z",
"vx",
"vy",
"vz",
"mass",
"q0",
"q1",
"q2",
"q3",
"w1",
"w2",
"w3"
]
},
"observation.images.camera": {
"dtype": "image",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
]
},
"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:
@misc{posadasnava2025actionchunkingtransformersimagebased,
title={Action Chunking with Transformers for Image-Based Spacecraft Guidance and Control},
author={Alejandro Posadas-Nava and Andrea Scorsoglio and Luca Ghilardi and Roberto Furfaro and Richard Linares},
year={2025},
eprint={2509.04628},
archivePrefix={arXiv},
primaryClass={cs.RO},
url={https://arxiv.org/abs/2509.04628},
}