metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- agibot
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
{
"codebase_version": "v3.0",
"robot_type": "AgiBot_A2D",
"total_episodes": 5,
"total_frames": 6554,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:5"
},
"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": {
"observation.state.effector.position": {
"dtype": "float32",
"shape": [
2
],
"names": {
"axes": [
"left_gripper",
"right_gripper"
]
}
},
"observation.state.end.position": {
"dtype": "float32",
"shape": [
6
],
"names": {
"axes": [
"left_x",
"left_y",
"left_z",
"right_x",
"right_y",
"right_z"
]
}
},
"observation.state.end.orientation": {
"dtype": "float32",
"shape": [
8
],
"names": {
"axes": [
"left_x",
"left_y",
"left_z",
"left_w",
"right_x",
"right_y",
"right_z",
"right_w"
]
}
},
"observation.state.head.position": {
"dtype": "float32",
"shape": [
2
],
"names": {
"axes": [
"yaw",
"pitch"
]
}
},
"observation.state.joint.current_value": {
"dtype": "float32",
"shape": [
14
],
"names": {
"axes": [
"left_joint_0",
"left_joint_1",
"left_joint_2",
"left_joint_3",
"left_joint_4",
"left_joint_5",
"left_joint_6",
"right_joint_0",
"right_joint_1",
"right_joint_2",
"right_joint_3",
"right_joint_4",
"right_joint_5",
"right_joint_6"
]
}
},
"observation.state.joint.position": {
"dtype": "float32",
"shape": [
14
],
"names": {
"axes": [
"left_joint_0",
"left_joint_1",
"left_joint_2",
"left_joint_3",
"left_joint_4",
"left_joint_5",
"left_joint_6",
"right_joint_0",
"right_joint_1",
"right_joint_2",
"right_joint_3",
"right_joint_4",
"right_joint_5",
"right_joint_6"
]
}
},
"observation.state.waist.position": {
"dtype": "float32",
"shape": [
2
],
"names": {
"axes": [
"pitch",
"lift"
]
}
},
"observation.state": {
"dtype": "float32",
"shape": [
20
],
"names": {
"axes": [
"head_yaw",
"head_pitch",
"left_joint_0",
"left_joint_1",
"left_joint_2",
"left_joint_3",
"left_joint_4",
"left_joint_5",
"left_joint_6",
"left_gripper",
"right_joint_0",
"right_joint_1",
"right_joint_2",
"right_joint_3",
"right_joint_4",
"right_joint_5",
"right_joint_6",
"right_gripper",
"waist_pitch",
"waist_lift"
]
}
},
"action.effector.position": {
"dtype": "float32",
"shape": [
2
],
"names": {
"axes": [
"left_gripper",
"right_gripper"
]
}
},
"action.end.position": {
"dtype": "float32",
"shape": [
6
],
"names": {
"axes": [
"left_x",
"left_y",
"left_z",
"right_x",
"right_y",
"right_z"
]
}
},
"action.end.orientation": {
"dtype": "float32",
"shape": [
8
],
"names": {
"axes": [
"left_x",
"left_y",
"left_z",
"left_w",
"right_x",
"right_y",
"right_z",
"right_w"
]
}
},
"action.head.position": {
"dtype": "float32",
"shape": [
2
],
"names": {
"axes": [
"yaw",
"pitch"
]
}
},
"action.joint.position": {
"dtype": "float32",
"shape": [
14
],
"names": {
"axes": [
"left_joint_0",
"left_joint_1",
"left_joint_2",
"left_joint_3",
"left_joint_4",
"left_joint_5",
"left_joint_6",
"right_joint_0",
"right_joint_1",
"right_joint_2",
"right_joint_3",
"right_joint_4",
"right_joint_5",
"right_joint_6"
]
}
},
"action.robot.velocity": {
"dtype": "float32",
"shape": [
2
],
"names": {
"axes": [
"velocity_x",
"yaw_rate"
]
}
},
"action.waist.position": {
"dtype": "float32",
"shape": [
2
],
"names": {
"axes": [
"pitch",
"lift"
]
}
},
"action": {
"dtype": "float32",
"shape": [
22
],
"names": {
"axes": [
"head_yaw",
"head_pitch",
"left_joint_0",
"left_joint_1",
"left_joint_2",
"left_joint_3",
"left_joint_4",
"left_joint_5",
"left_joint_6",
"left_gripper",
"right_joint_0",
"right_joint_1",
"right_joint_2",
"right_joint_3",
"right_joint_4",
"right_joint_5",
"right_joint_6",
"right_gripper",
"waist_pitch",
"waist_lift",
"velocity_x",
"yaw_rate"
]
}
},
"init_scene_text": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"action_text": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"skill": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"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
},
"observation.images.top_head": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
]
},
"observation.images.hand_left": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
]
},
"observation.images.hand_right": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
]
},
"observation.images.head_center_fisheye": {
"dtype": "video",
"shape": [
748,
960,
3
],
"names": [
"height",
"width",
"channel"
]
},
"observation.images.head_left_fisheye": {
"dtype": "video",
"shape": [
748,
960,
3
],
"names": [
"height",
"width",
"channel"
]
},
"observation.images.head_right_fisheye": {
"dtype": "video",
"shape": [
748,
960,
3
],
"names": [
"height",
"width",
"channel"
]
},
"observation.images.back_left_fisheye": {
"dtype": "video",
"shape": [
748,
960,
3
],
"names": [
"height",
"width",
"channel"
]
},
"observation.images.back_right_fisheye": {
"dtype": "video",
"shape": [
748,
960,
3
],
"names": [
"height",
"width",
"channel"
]
}
}
}
Citation
BibTeX:
[More Information Needed]