Hugging Face's logo

Datasets:
cadene
/
droid_1.0.1_v30_compact_2

Tasks:
Robotics
Modalities:
Tabular
Text
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
openx
Libraries:
Datasets
pandas
License:
Dataset card Data Studio Files
xet
Community
cadene commited on
Commit
f87dbcc
·
verified ·
1 Parent(s): 1346601

Upload README.md with huggingface_hub

Browse files
Files changed (1) hide show
  1. README.md +482 -0
README.md ADDED
@@ -0,0 +1,482 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ---
2
+ license: apache-2.0
3
+ task_categories:
4
+ - robotics
5
+ tags:
6
+ - LeRobot
7
+ - openx
8
+ configs:
9
+ - config_name: default
10
+ data_files: data/*/*.parquet
11
+ ---
12
+
13
+ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
14
+
15
+ ## Dataset Description
16
+
17
+
18
+
19
+ - **Homepage:** [More Information Needed]
20
+ - **Paper:** [More Information Needed]
21
+ - **License:** apache-2.0
22
+
23
+ ## Dataset Structure
24
+
25
+ [meta/info.json](meta/info.json):
26
+ ```json
27
+ {
28
+ "codebase_version": "v3.0",
29
+ "robot_type": "Franka",
30
+ "total_episodes": 93,
31
+ "total_frames": 26108,
32
+ "total_tasks": 72,
33
+ "chunks_size": 1000,
34
+ "data_files_size_in_mb": 100,
35
+ "video_files_size_in_mb": 500,
36
+ "fps": 15,
37
+ "splits": {
38
+ "train": "0:93"
39
+ },
40
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
41
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
42
+ "features": {
43
+ "is_first": {
44
+ "dtype": "bool",
45
+ "shape": [
46
+ 1
47
+ ],
48
+ "names": null
49
+ },
50
+ "is_last": {
51
+ "dtype": "bool",
52
+ "shape": [
53
+ 1
54
+ ],
55
+ "names": null
56
+ },
57
+ "is_terminal": {
58
+ "dtype": "bool",
59
+ "shape": [
60
+ 1
61
+ ],
62
+ "names": null
63
+ },
64
+ "language_instruction": {
65
+ "dtype": "string",
66
+ "shape": [
67
+ 1
68
+ ],
69
+ "names": null
70
+ },
71
+ "language_instruction_2": {
72
+ "dtype": "string",
73
+ "shape": [
74
+ 1
75
+ ],
76
+ "names": null
77
+ },
78
+ "language_instruction_3": {
79
+ "dtype": "string",
80
+ "shape": [
81
+ 1
82
+ ],
83
+ "names": null
84
+ },
85
+ "observation.state.gripper_position": {
86
+ "dtype": "float32",
87
+ "shape": [
88
+ 1
89
+ ],
90
+ "names": {
91
+ "axes": [
92
+ "gripper"
93
+ ]
94
+ }
95
+ },
96
+ "observation.state.cartesian_position": {
97
+ "dtype": "float32",
98
+ "shape": [
99
+ 6
100
+ ],
101
+ "names": {
102
+ "axes": [
103
+ "x",
104
+ "y",
105
+ "z",
106
+ "roll",
107
+ "pitch",
108
+ "yaw"
109
+ ]
110
+ }
111
+ },
112
+ "observation.state.joint_position": {
113
+ "dtype": "float32",
114
+ "shape": [
115
+ 7
116
+ ],
117
+ "names": {
118
+ "axes": [
119
+ "joint_0",
120
+ "joint_1",
121
+ "joint_2",
122
+ "joint_3",
123
+ "joint_4",
124
+ "joint_5",
125
+ "joint_6"
126
+ ]
127
+ }
128
+ },
129
+ "observation.state": {
130
+ "dtype": "float32",
131
+ "shape": [
132
+ 8
133
+ ],
134
+ "names": {
135
+ "axes": [
136
+ "joint_0",
137
+ "joint_1",
138
+ "joint_2",
139
+ "joint_3",
140
+ "joint_4",
141
+ "joint_5",
142
+ "joint_6",
143
+ "gripper"
144
+ ]
145
+ }
146
+ },
147
+ "observation.images.wrist_left": {
148
+ "dtype": "video",
149
+ "shape": [
150
+ 180,
151
+ 320,
152
+ 3
153
+ ],
154
+ "names": [
155
+ "height",
156
+ "width",
157
+ "channels"
158
+ ],
159
+ "info": {
160
+ "video.fps": 15.0,
161
+ "video.height": 180,
162
+ "video.width": 320,
163
+ "video.channels": 3,
164
+ "video.codec": "av1",
165
+ "video.pix_fmt": "yuv420p",
166
+ "video.is_depth_map": false,
167
+ "has_audio": false
168
+ }
169
+ },
170
+ "observation.images.exterior_1_left": {
171
+ "dtype": "video",
172
+ "shape": [
173
+ 180,
174
+ 320,
175
+ 3
176
+ ],
177
+ "names": [
178
+ "height",
179
+ "width",
180
+ "channels"
181
+ ],
182
+ "info": {
183
+ "video.fps": 15.0,
184
+ "video.height": 180,
185
+ "video.width": 320,
186
+ "video.channels": 3,
187
+ "video.codec": "av1",
188
+ "video.pix_fmt": "yuv420p",
189
+ "video.is_depth_map": false,
190
+ "has_audio": false
191
+ }
192
+ },
193
+ "observation.images.exterior_2_left": {
194
+ "dtype": "video",
195
+ "shape": [
196
+ 180,
197
+ 320,
198
+ 3
199
+ ],
200
+ "names": [
201
+ "height",
202
+ "width",
203
+ "channels"
204
+ ],
205
+ "info": {
206
+ "video.fps": 15.0,
207
+ "video.height": 180,
208
+ "video.width": 320,
209
+ "video.channels": 3,
210
+ "video.codec": "av1",
211
+ "video.pix_fmt": "yuv420p",
212
+ "video.is_depth_map": false,
213
+ "has_audio": false
214
+ }
215
+ },
216
+ "action.gripper_position": {
217
+ "dtype": "float32",
218
+ "shape": [
219
+ 1
220
+ ],
221
+ "names": {
222
+ "axes": [
223
+ "gripper"
224
+ ]
225
+ }
226
+ },
227
+ "action.gripper_velocity": {
228
+ "dtype": "float32",
229
+ "shape": [
230
+ 1
231
+ ],
232
+ "names": {
233
+ "axes": [
234
+ "gripper"
235
+ ]
236
+ }
237
+ },
238
+ "action.cartesian_position": {
239
+ "dtype": "float32",
240
+ "shape": [
241
+ 6
242
+ ],
243
+ "names": {
244
+ "axes": [
245
+ "x",
246
+ "y",
247
+ "z",
248
+ "roll",
249
+ "pitch",
250
+ "yaw"
251
+ ]
252
+ }
253
+ },
254
+ "action.cartesian_velocity": {
255
+ "dtype": "float32",
256
+ "shape": [
257
+ 6
258
+ ],
259
+ "names": {
260
+ "axes": [
261
+ "x",
262
+ "y",
263
+ "z",
264
+ "roll",
265
+ "pitch",
266
+ "yaw"
267
+ ]
268
+ }
269
+ },
270
+ "action.joint_position": {
271
+ "dtype": "float32",
272
+ "shape": [
273
+ 7
274
+ ],
275
+ "names": {
276
+ "axes": [
277
+ "joint_0",
278
+ "joint_1",
279
+ "joint_2",
280
+ "joint_3",
281
+ "joint_4",
282
+ "joint_5",
283
+ "joint_6"
284
+ ]
285
+ }
286
+ },
287
+ "action.joint_velocity": {
288
+ "dtype": "float32",
289
+ "shape": [
290
+ 7
291
+ ],
292
+ "names": {
293
+ "axes": [
294
+ "joint_0",
295
+ "joint_1",
296
+ "joint_2",
297
+ "joint_3",
298
+ "joint_4",
299
+ "joint_5",
300
+ "joint_6"
301
+ ]
302
+ }
303
+ },
304
+ "action.original": {
305
+ "dtype": "float32",
306
+ "shape": [
307
+ 7
308
+ ],
309
+ "names": {
310
+ "axes": [
311
+ "x",
312
+ "y",
313
+ "z",
314
+ "roll",
315
+ "pitch",
316
+ "yaw",
317
+ "gripper"
318
+ ]
319
+ }
320
+ },
321
+ "action": {
322
+ "dtype": "float32",
323
+ "shape": [
324
+ 8
325
+ ],
326
+ "names": {
327
+ "axes": [
328
+ "joint_0",
329
+ "joint_1",
330
+ "joint_2",
331
+ "joint_3",
332
+ "joint_4",
333
+ "joint_5",
334
+ "joint_6",
335
+ "gripper"
336
+ ]
337
+ }
338
+ },
339
+ "discount": {
340
+ "dtype": "float32",
341
+ "shape": [
342
+ 1
343
+ ],
344
+ "names": null
345
+ },
346
+ "reward": {
347
+ "dtype": "float32",
348
+ "shape": [
349
+ 1
350
+ ],
351
+ "names": null
352
+ },
353
+ "task_category": {
354
+ "dtype": "string",
355
+ "shape": [
356
+ 1
357
+ ],
358
+ "names": null
359
+ },
360
+ "building": {
361
+ "dtype": "string",
362
+ "shape": [
363
+ 1
364
+ ],
365
+ "names": null
366
+ },
367
+ "collector_id": {
368
+ "dtype": "string",
369
+ "shape": [
370
+ 1
371
+ ],
372
+ "names": null
373
+ },
374
+ "date": {
375
+ "dtype": "string",
376
+ "shape": [
377
+ 1
378
+ ],
379
+ "names": null
380
+ },
381
+ "camera_extrinsics.wrist_left": {
382
+ "dtype": "float32",
383
+ "shape": [
384
+ 6
385
+ ],
386
+ "names": {
387
+ "axes": [
388
+ "x",
389
+ "y",
390
+ "z",
391
+ "roll",
392
+ "pitch",
393
+ "yaw"
394
+ ]
395
+ }
396
+ },
397
+ "camera_extrinsics.exterior_1_left": {
398
+ "dtype": "float32",
399
+ "shape": [
400
+ 6
401
+ ],
402
+ "names": {
403
+ "axes": [
404
+ "x",
405
+ "y",
406
+ "z",
407
+ "roll",
408
+ "pitch",
409
+ "yaw"
410
+ ]
411
+ }
412
+ },
413
+ "camera_extrinsics.exterior_2_left": {
414
+ "dtype": "float32",
415
+ "shape": [
416
+ 6
417
+ ],
418
+ "names": {
419
+ "axes": [
420
+ "x",
421
+ "y",
422
+ "z",
423
+ "roll",
424
+ "pitch",
425
+ "yaw"
426
+ ]
427
+ }
428
+ },
429
+ "is_episode_successful": {
430
+ "dtype": "bool",
431
+ "shape": [
432
+ 1
433
+ ],
434
+ "names": null
435
+ },
436
+ "timestamp": {
437
+ "dtype": "float32",
438
+ "shape": [
439
+ 1
440
+ ],
441
+ "names": null
442
+ },
443
+ "frame_index": {
444
+ "dtype": "int64",
445
+ "shape": [
446
+ 1
447
+ ],
448
+ "names": null
449
+ },
450
+ "episode_index": {
451
+ "dtype": "int64",
452
+ "shape": [
453
+ 1
454
+ ],
455
+ "names": null
456
+ },
457
+ "index": {
458
+ "dtype": "int64",
459
+ "shape": [
460
+ 1
461
+ ],
462
+ "names": null
463
+ },
464
+ "task_index": {
465
+ "dtype": "int64",
466
+ "shape": [
467
+ 1
468
+ ],
469
+ "names": null
470
+ }
471
+ }
472
+ }
473
+ ```
474
+
475
+
476
+ ## Citation
477
+
478
+ **BibTeX:**
479
+
480
+ ```bibtex
481
+ [More Information Needed]
482
+ ```