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--- |
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license: apache-2.0 |
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task_categories: |
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- robotics |
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tags: |
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- LeRobot |
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configs: |
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- config_name: default |
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data_files: data/*/*.parquet |
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--- |
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This dataset was created using [LeRobot](https://github.com/huggingface/lerobot) and was part of our work on the [Action Chunking with Transformers for Image-Based Spacecraft Guidance and Control](https://arxiv.org/abs/2509.04628) paper. |
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## Dataset Description |
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- **Homepage:** [More Information Needed] |
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- **Paper:** [More Information Needed] |
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- **License:** apache-2.0 |
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## Dataset Structure |
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[meta/info.json](meta/info.json): |
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```json |
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{ |
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"codebase_version": "v2.1", |
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"robot_type": "spacecraft", |
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"total_episodes": 100, |
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"total_frames": 6539, |
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"total_tasks": 1, |
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"total_videos": 0, |
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"total_chunks": 1, |
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"chunks_size": 1000, |
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"fps": 1, |
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"splits": { |
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"train": "0:100" |
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}, |
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", |
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"video_path": null, |
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"features": { |
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"action": { |
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"dtype": "float32", |
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"shape": [ |
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6 |
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], |
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"names": [ |
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"Tx", |
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"Ty", |
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"Tz", |
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"Lx", |
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"Ly", |
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"Lz" |
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] |
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}, |
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"observation.state": { |
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"dtype": "float32", |
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"shape": [ |
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14 |
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], |
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"names": [ |
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"x", |
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"y", |
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"z", |
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"vx", |
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"vy", |
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"vz", |
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"mass", |
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"q0", |
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"q1", |
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"q2", |
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"q3", |
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"w1", |
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"w2", |
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"w3" |
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] |
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}, |
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"observation.images.camera": { |
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"dtype": "image", |
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"shape": [ |
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480, |
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640, |
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3 |
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], |
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"names": [ |
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"height", |
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"width", |
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"channels" |
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] |
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}, |
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"timestamp": { |
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"dtype": "float32", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"frame_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"episode_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"task_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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} |
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} |
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} |
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``` |
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## Citation |
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**BibTeX:** |
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```bibtex |
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@misc{posadasnava2025actionchunkingtransformersimagebased, |
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title={Action Chunking with Transformers for Image-Based Spacecraft Guidance and Control}, |
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author={Alejandro Posadas-Nava and Andrea Scorsoglio and Luca Ghilardi and Roberto Furfaro and Richard Linares}, |
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year={2025}, |
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eprint={2509.04628}, |
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archivePrefix={arXiv}, |
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primaryClass={cs.RO}, |
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url={https://arxiv.org/abs/2509.04628}, |
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} |
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``` |
