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Datasets:
cadene
/
agibot_alpha_world_210_shard_1

Tasks:
Robotics
Modalities:
Tabular
Text
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
agibot
Libraries:
Datasets
pandas
License:
Dataset card Data Studio Files
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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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+ - agibot
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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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+
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+ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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+
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+ ## Dataset Description
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+
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+
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+
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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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+
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+ ## Dataset Structure
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+
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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": "v3.0",
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+ "robot_type": "AgiBot_A2D",
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+ "total_episodes": 5,
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+ "total_frames": 6554,
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+ "total_tasks": 1,
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+ "chunks_size": 1000,
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+ "data_files_size_in_mb": 100,
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+ "video_files_size_in_mb": 500,
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+ "fps": 30,
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+ "splits": {
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+ "train": "0:5"
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+ },
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+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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+ "features": {
43
+ "observation.state.effector.position": {
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+ "dtype": "float32",
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+ "shape": [
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+ 2
47
+ ],
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+ "names": {
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+ "axes": [
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+ "left_gripper",
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+ "right_gripper"
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+ ]
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+ }
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+ },
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+ "observation.state.end.position": {
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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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+ "axes": [
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+ "left_x",
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+ "left_y",
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+ "left_z",
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+ "right_x",
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+ "right_y",
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+ "right_z"
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+ ]
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+ }
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+ },
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+ "observation.state.end.orientation": {
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+ "dtype": "float32",
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+ "shape": [
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+ 8
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+ ],
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+ "names": {
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+ "axes": [
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+ "left_x",
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+ "left_y",
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+ "left_z",
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+ "left_w",
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+ "right_x",
83
+ "right_y",
84
+ "right_z",
85
+ "right_w"
86
+ ]
87
+ }
88
+ },
89
+ "observation.state.head.position": {
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+ "dtype": "float32",
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+ "shape": [
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+ 2
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+ ],
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+ "names": {
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+ "axes": [
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+ "yaw",
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+ "pitch"
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+ ]
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+ }
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+ },
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+ "observation.state.joint.current_value": {
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+ "dtype": "float32",
103
+ "shape": [
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+ 14
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+ ],
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+ "names": {
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+ "axes": [
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+ "left_joint_0",
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+ "left_joint_1",
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+ "left_joint_2",
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+ "left_joint_3",
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+ "left_joint_4",
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+ "left_joint_5",
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+ "left_joint_6",
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+ "right_joint_0",
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+ "right_joint_1",
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+ "right_joint_2",
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+ "right_joint_3",
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+ "right_joint_4",
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+ "right_joint_5",
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+ "right_joint_6"
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+ ]
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+ }
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+ },
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+ "observation.state.joint.position": {
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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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+ "axes": [
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+ "left_joint_0",
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+ "left_joint_1",
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+ "left_joint_2",
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+ "left_joint_3",
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+ "left_joint_4",
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+ "left_joint_5",
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+ "left_joint_6",
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+ "right_joint_0",
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+ "right_joint_1",
141
+ "right_joint_2",
142
+ "right_joint_3",
143
+ "right_joint_4",
144
+ "right_joint_5",
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+ "right_joint_6"
146
+ ]
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+ }
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+ },
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+ "observation.state.waist.position": {
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+ "dtype": "float32",
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+ "shape": [
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+ 2
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+ ],
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+ "names": {
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+ "axes": [
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+ "pitch",
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+ "lift"
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+ ]
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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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+ 20
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+ ],
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+ "names": {
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+ "axes": [
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+ "head_yaw",
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+ "head_pitch",
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+ "left_joint_0",
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+ "left_joint_1",
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+ "left_joint_2",
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+ "left_joint_3",
174
+ "left_joint_4",
175
+ "left_joint_5",
176
+ "left_joint_6",
177
+ "left_gripper",
178
+ "right_joint_0",
179
+ "right_joint_1",
180
+ "right_joint_2",
181
+ "right_joint_3",
182
+ "right_joint_4",
183
+ "right_joint_5",
184
+ "right_joint_6",
185
+ "right_gripper",
186
+ "waist_pitch",
187
+ "waist_lift"
188
+ ]
189
+ }
190
+ },
191
+ "action.effector.position": {
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+ "dtype": "float32",
193
+ "shape": [
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+ 2
195
+ ],
196
+ "names": {
197
+ "axes": [
198
+ "left_gripper",
199
+ "right_gripper"
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+ ]
201
+ }
202
+ },
203
+ "action.end.position": {
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+ "dtype": "float32",
205
+ "shape": [
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+ 6
207
+ ],
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+ "names": {
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+ "axes": [
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+ "left_x",
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+ "left_y",
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+ "left_z",
213
+ "right_x",
214
+ "right_y",
215
+ "right_z"
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+ ]
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+ }
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+ },
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+ "action.end.orientation": {
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+ "dtype": "float32",
221
+ "shape": [
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+ 8
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+ ],
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+ "names": {
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+ "axes": [
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+ "left_x",
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+ "left_y",
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+ "left_z",
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+ "left_w",
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+ "right_x",
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+ "right_y",
232
+ "right_z",
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+ "right_w"
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+ ]
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+ }
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+ },
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+ "action.head.position": {
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+ "dtype": "float32",
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+ "shape": [
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+ 2
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+ ],
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+ "names": {
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+ "axes": [
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+ "yaw",
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+ "pitch"
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+ ]
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+ }
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+ },
249
+ "action.joint.position": {
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+ "dtype": "float32",
251
+ "shape": [
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+ 14
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+ ],
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+ "names": {
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+ "axes": [
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+ "left_joint_0",
257
+ "left_joint_1",
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+ "left_joint_2",
259
+ "left_joint_3",
260
+ "left_joint_4",
261
+ "left_joint_5",
262
+ "left_joint_6",
263
+ "right_joint_0",
264
+ "right_joint_1",
265
+ "right_joint_2",
266
+ "right_joint_3",
267
+ "right_joint_4",
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+ "right_joint_5",
269
+ "right_joint_6"
270
+ ]
271
+ }
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+ },
273
+ "action.robot.velocity": {
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+ "dtype": "float32",
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+ "shape": [
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+ 2
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+ ],
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+ "names": {
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+ "axes": [
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+ "velocity_x",
281
+ "yaw_rate"
282
+ ]
283
+ }
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+ },
285
+ "action.waist.position": {
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+ "dtype": "float32",
287
+ "shape": [
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+ 2
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+ ],
290
+ "names": {
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+ "axes": [
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+ "pitch",
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+ "lift"
294
+ ]
295
+ }
296
+ },
297
+ "action": {
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+ "dtype": "float32",
299
+ "shape": [
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+ 22
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+ ],
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+ "names": {
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+ "axes": [
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+ "head_yaw",
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+ "head_pitch",
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+ "left_joint_0",
307
+ "left_joint_1",
308
+ "left_joint_2",
309
+ "left_joint_3",
310
+ "left_joint_4",
311
+ "left_joint_5",
312
+ "left_joint_6",
313
+ "left_gripper",
314
+ "right_joint_0",
315
+ "right_joint_1",
316
+ "right_joint_2",
317
+ "right_joint_3",
318
+ "right_joint_4",
319
+ "right_joint_5",
320
+ "right_joint_6",
321
+ "right_gripper",
322
+ "waist_pitch",
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+ "waist_lift",
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+ "velocity_x",
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+ "yaw_rate"
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+ ]
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+ }
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+ },
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+ "init_scene_text": {
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+ "dtype": "string",
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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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+ "action_text": {
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+ "dtype": "string",
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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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+ "skill": {
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+ "dtype": "string",
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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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+ "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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+ "observation.images.top_head": {
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+ "dtype": "video",
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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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+ "channel"
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+ ]
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+ },
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+ "observation.images.hand_left": {
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+ "dtype": "video",
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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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+ "channel"
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+ ]
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+ },
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+ "observation.images.hand_right": {
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+ "dtype": "video",
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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",
420
+ "width",
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+ "channel"
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+ ]
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+ },
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+ "observation.images.head_center_fisheye": {
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+ "dtype": "video",
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+ "shape": [
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+ 748,
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+ 960,
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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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+ "channel"
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+ ]
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+ },
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+ "observation.images.head_left_fisheye": {
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+ "dtype": "video",
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+ "shape": [
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+ 748,
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+ 960,
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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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+ "channel"
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+ ]
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+ },
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+ "observation.images.head_right_fisheye": {
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+ "dtype": "video",
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+ "shape": [
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+ 748,
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+ 960,
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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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+ "channel"
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+ ]
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+ },
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+ "observation.images.back_left_fisheye": {
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+ "dtype": "video",
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+ "shape": [
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+ 748,
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+ 960,
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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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+ "channel"
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+ ]
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+ },
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+ "observation.images.back_right_fisheye": {
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+ "dtype": "video",
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+ "shape": [
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+ 748,
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+ 960,
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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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+ "channel"
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+ ]
488
+ }
489
+ }
490
+ }
491
+ ```
492
+
493
+
494
+ ## Citation
495
+
496
+ **BibTeX:**
497
+
498
+ ```bibtex
499
+ [More Information Needed]
500
+ ```