README.md

metadata

license: apache-2.0
task_categories:
  - robotics
tags:
  - LeRobot
  - tutorial
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

meta/info.json:

{
  "codebase_version": "v3.0",
  "robot_type": "stackcube",
  "total_episodes": 10,
  "total_frames": 1081,
  "total_tasks": 1,
  "total_videos": 20,
  "total_chunks": 1,
  "chunks_size": 1000,
  "fps": 30,
  "data_files_size_in_mb": 0.13,
  "splits": {
    "train": "0:10"
  },
  "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",
  "features": {
    "action": {
      "dtype": "float32",
      "shape": [
        8
      ],
      "names": [
        "action_0",
        "action_1",
        "action_2",
        "action_3",
        "action_4",
        "action_5",
        "action_6",
        "action_7"
      ],
      "fps": 30
    },
    "timestamp": {
      "dtype": "float32",
      "shape": [
        1
      ],
      "names": null,
      "fps": 30
    },
    "frame_index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null,
      "fps": 30
    },
    "episode_index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null,
      "fps": 30
    },
    "index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null,
      "fps": 30
    },
    "task_index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null,
      "fps": 30
    },
    "observation.state": {
      "dtype": "float32",
      "shape": [
        9
      ],
      "names": [
        "joint_0",
        "joint_1",
        "joint_2",
        "joint_3",
        "joint_4",
        "joint_5",
        "joint_6",
        "joint_7",
        "joint_8"
      ],
      "fps": 30
    },
    "observation.images.base_camera": {
      "dtype": "video",
      "shape": [
        480,
        640,
        3
      ],
      "names": [
        "height",
        "width",
        "channels"
      ],
      "info": {
        "video.fps": 30.0,
        "video.height": 480,
        "video.width": 640,
        "video.channels": 3,
        "video.codec": "mp4v",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "has_audio": false
      }
    },
    "observation.images.hand_camera": {
      "dtype": "video",
      "shape": [
        480,
        640,
        3
      ],
      "names": [
        "height",
        "width",
        "channels"
      ],
      "info": {
        "video.fps": 30.0,
        "video.height": 480,
        "video.width": 640,
        "video.channels": 3,
        "video.codec": "mp4v",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "has_audio": false
      }
    }
  }
}

Citation

BibTeX:

[More Information Needed]