Beegbrain/franka_multi_task_v1_sam3_masks

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": null,
    "total_episodes": 200,
    "total_frames": 75843,
    "total_tasks": 4,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 10,
    "splits": {
        "train": "0:200"
    },
    "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",
    "features": {
        "action": {
            "dtype": "float64",
            "shape": [
                8
            ],
            "names": [
                "joint_0",
                "joint_1",
                "joint_2",
                "joint_3",
                "joint_4",
                "joint_5",
                "joint_6",
                "gripper"
            ],
            "fps": 10
        },
        "observation.state": {
            "dtype": "float64",
            "shape": [
                8
            ],
            "names": [
                "joint_0",
                "joint_1",
                "joint_2",
                "joint_3",
                "joint_4",
                "joint_5",
                "joint_6",
                "gripper"
            ],
            "fps": 10
        },
        "observation.images.wrist_camera": {
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            },
            "dtype": "video"
        },
        "observation.images.side_camera": {
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            },
            "dtype": "video"
        },
        "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
        },
        "masks_wrist": {
            "dtype": "bool",
            "shape": [
                8,
                1,
                37,
                37
            ],
            "names": [
                "num_obj",
                "channels",
                "height",
                "width"
            ],
            "fps": 80
        },
        "masks_side": {
            "dtype": "bool",
            "shape": [
                8,
                1,
                37,
                37
            ],
            "names": [
                "num_obj",
                "channels",
                "height",
                "width"
            ],
            "fps": 80
        },
        "masks_names_wrist": {
            "dtype": "string",
            "shape": [
                1
            ],
            "fps": 80
        },
        "masks_names_side": {
            "dtype": "string",
            "shape": [
                1
            ],
            "fps": 80
        }
    }
}

Citation

BibTeX:

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