metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
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": "v2.1",
"robot_type": "human",
"total_episodes": 1,
"total_frames": 5,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:1"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": null,
"features": {
"lang": {
"dtype": "float32",
"shape": [
512
],
"names": null
},
"observation.image.low": {
"dtype": "image",
"shape": [
480,
640,
3
],
"names": [
"width",
"height",
"channels"
]
},
"observation.image.wrist": {
"dtype": "image",
"shape": [
256,
256,
3
],
"names": [
"width",
"height",
"channels"
]
},
"observation.state.box.center": {
"dtype": "float32",
"shape": [
2
],
"names": [
"gripper"
]
},
"observation.state.box.kp2d": {
"dtype": "float32",
"shape": [
21,
2
],
"names": [
"gripper"
]
},
"observation.state.box.size": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper"
]
},
"observation.state.kp2d": {
"dtype": "float32",
"shape": [
21,
2
],
"names": [
"gripper"
]
},
"observation.state.kp3d": {
"dtype": "float32",
"shape": [
21,
3
],
"names": [
"gripper"
]
},
"observation.state.mano.betas": {
"dtype": "float32",
"shape": [
10
],
"names": [
"gripper"
]
},
"observation.state.mano.global_orient": {
"dtype": "float32",
"shape": [
3,
3
],
"names": [
"gripper"
]
},
"observation.state.mano.hand_pose": {
"dtype": "float32",
"shape": [
15,
3,
3
],
"names": [
"gripper"
]
},
"observation.state.right": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper"
]
},
"observation.state.scaled_focal_length": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper"
]
},
"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
}
}
}
Citation
BibTeX:
[More Information Needed]