|
|
--- |
|
|
license: mit |
|
|
task_categories: |
|
|
- robotics |
|
|
- reinforcement-learning |
|
|
language: |
|
|
- en |
|
|
tags: |
|
|
- robot |
|
|
- reinforcement-learning |
|
|
- rlbench |
|
|
- lerobot |
|
|
- vla |
|
|
- vision-language-action |
|
|
pretty_name: RLBench - Task PutRubbishInBin (relative actions in Euler representation) |
|
|
--- |
|
|
# put_rubbish_in_bin_euler_relative |
|
|
|
|
|
Generated RLBench -> LeRobot v2.1 dataset. |
|
|
`meta/info.json`: |
|
|
```json |
|
|
{ |
|
|
"codebase_version": "v2.1", |
|
|
"robot_type": "franka", |
|
|
"total_episodes": 500, |
|
|
"total_frames": 77242, |
|
|
"total_tasks": 1, |
|
|
"total_videos": 2500, |
|
|
"total_chunks": 1, |
|
|
"chunks_size": 1000, |
|
|
"fps": 10, |
|
|
"splits": { |
|
|
"train": "0:500" |
|
|
}, |
|
|
"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.state": { |
|
|
"dtype": "float32", |
|
|
"shape": [ |
|
|
8 |
|
|
], |
|
|
"names": [ |
|
|
"x", |
|
|
"y", |
|
|
"z", |
|
|
"qx", |
|
|
"qy", |
|
|
"qz", |
|
|
"qw", |
|
|
"gripper" |
|
|
], |
|
|
"description": "End-effector position (x,y,z), orientation (qx,qy,qz,qw) and gripper state (0.0 closed, 1.0 open)." |
|
|
}, |
|
|
"action": { |
|
|
"dtype": "float32", |
|
|
"shape": [ |
|
|
7 |
|
|
], |
|
|
"names": [ |
|
|
"x", |
|
|
"y", |
|
|
"z", |
|
|
"roll", |
|
|
"pitch", |
|
|
"yaw", |
|
|
"gripper" |
|
|
], |
|
|
"description": "Action applied at each step, in Euler representation + gripper (0.0 close, 1.0 open)." |
|
|
}, |
|
|
"observation.images.left_shoulder_rgb": { |
|
|
"dtype": "video", |
|
|
"shape": [ |
|
|
256, |
|
|
256, |
|
|
3 |
|
|
], |
|
|
"names": [ |
|
|
"height", |
|
|
"width", |
|
|
"channels" |
|
|
], |
|
|
"info": { |
|
|
"video.fps": 10, |
|
|
"video.height": 256, |
|
|
"video.width": 256, |
|
|
"video.channels": 3, |
|
|
"video.is_depth_map": false, |
|
|
"has_audio": false |
|
|
} |
|
|
}, |
|
|
"observation.images.right_shoulder_rgb": { |
|
|
"dtype": "video", |
|
|
"shape": [ |
|
|
256, |
|
|
256, |
|
|
3 |
|
|
], |
|
|
"names": [ |
|
|
"height", |
|
|
"width", |
|
|
"channels" |
|
|
], |
|
|
"info": { |
|
|
"video.fps": 10, |
|
|
"video.height": 256, |
|
|
"video.width": 256, |
|
|
"video.channels": 3, |
|
|
"video.is_depth_map": false, |
|
|
"has_audio": false |
|
|
} |
|
|
}, |
|
|
"observation.images.front_rgb": { |
|
|
"dtype": "video", |
|
|
"shape": [ |
|
|
256, |
|
|
256, |
|
|
3 |
|
|
], |
|
|
"names": [ |
|
|
"height", |
|
|
"width", |
|
|
"channels" |
|
|
], |
|
|
"info": { |
|
|
"video.fps": 10, |
|
|
"video.height": 256, |
|
|
"video.width": 256, |
|
|
"video.channels": 3, |
|
|
"video.is_depth_map": false, |
|
|
"has_audio": false |
|
|
} |
|
|
}, |
|
|
"observation.images.wrist_rgb": { |
|
|
"dtype": "video", |
|
|
"shape": [ |
|
|
256, |
|
|
256, |
|
|
3 |
|
|
], |
|
|
"names": [ |
|
|
"height", |
|
|
"width", |
|
|
"channels" |
|
|
], |
|
|
"info": { |
|
|
"video.fps": 10, |
|
|
"video.height": 256, |
|
|
"video.width": 256, |
|
|
"video.channels": 3, |
|
|
"video.is_depth_map": false, |
|
|
"has_audio": false |
|
|
} |
|
|
}, |
|
|
"observation.images.overhead_rgb": { |
|
|
"dtype": "video", |
|
|
"shape": [ |
|
|
256, |
|
|
256, |
|
|
3 |
|
|
], |
|
|
"names": [ |
|
|
"height", |
|
|
"width", |
|
|
"channels" |
|
|
], |
|
|
"info": { |
|
|
"video.fps": 10, |
|
|
"video.height": 256, |
|
|
"video.width": 256, |
|
|
"video.channels": 3, |
|
|
"video.is_depth_map": false, |
|
|
"has_audio": false |
|
|
} |
|
|
}, |
|
|
"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 |
|
|
} |
|
|
} |
|
|
} |
|
|
``` |
