| --- |
| license: mit |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - ecse552 |
| - ocbench |
| - ur5e |
| - mujoco |
| - simulation |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
|
|
|
|
| <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=Autobrik/ecse552-ocbench-source-augmented-sample"> |
| <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/> |
| <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/> |
| </a> |
|
|
|
|
| ## Dataset Description |
|
|
| LeRobot copy of `source-deterministic-n300-seed0` from [Autobrik/ecse552-ocbench-block](https://huggingface.co/datasets/Autobrik/ecse552-ocbench-block) |
| (exact .npz data and full documentation), for the McGill ECSE 552 project *Learning to |
| Manipulate a New Object from Action-Free Videos* |
| ([code](https://github.com/BrikHMP18/ecse-552-project), commit `41f93cc`). |
|
|
| Scripted-expert episodes in OCBench (UR5e + Robotiq, MuJoCo): object `source` (red 6x6x6 cm cube), |
| 20 episodes, 10 Hz, three 224 x 224 cameras (front, side, wrist), 7 normalized actions (six |
| joint increments, one gripper increment). Scene `fixed_yaw`, expert `deterministic`. |
|
|
| **Illustration only, not training data.** The first 20 episodes with the image augmentation |
| of the project's method (e), settings `{'brightness': 0.3, 'contrast': 0.3, 'saturation': 0.3, 'hue': 0.5, 'shift_px': 4}`. Here one random draw per episode (seed = |
| episode index) is applied to its three cameras; training draws a new one for every sample, so |
| no fixed dataset reproduces it. Actions and states are unchanged. |
|
|
| `observation.state` (joints) and `observation.environment_state` (object pose) are privileged |
| simulator state: the project's models use images only. Episode `i` here is |
| `episode_{i:05d}.npz` in the source collection (seed in its `manifest.json`). Videos are |
| lossy; train from the .npz copy for exact pixels. |
|
|
| - **Homepage:** [More Information Needed] |
| - **Paper:** [More Information Needed] |
| - **License:** mit |
|
|
| ## Dataset Structure |
|
|
| [meta/info.json](meta/info.json): |
| ```json |
| { |
| "codebase_version": "v3.0", |
| "fps": 10, |
| "features": { |
| "observation.images.front": { |
| "dtype": "video", |
| "shape": [ |
| 224, |
| 224, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 224, |
| "video.width": 224, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.fps": 10, |
| "video.channels": 3, |
| "has_audio": false, |
| "video.g": 2, |
| "video.crf": 30, |
| "video.preset": 12, |
| "video.fast_decode": 0, |
| "video.video_backend": "pyav", |
| "video.extra_options": {}, |
| "is_depth_map": false |
| } |
| }, |
| "observation.images.side": { |
| "dtype": "video", |
| "shape": [ |
| 224, |
| 224, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 224, |
| "video.width": 224, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.fps": 10, |
| "video.channels": 3, |
| "has_audio": false, |
| "video.g": 2, |
| "video.crf": 30, |
| "video.preset": 12, |
| "video.fast_decode": 0, |
| "video.video_backend": "pyav", |
| "video.extra_options": {}, |
| "is_depth_map": false |
| } |
| }, |
| "observation.images.wrist": { |
| "dtype": "video", |
| "shape": [ |
| 224, |
| 224, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 224, |
| "video.width": 224, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.fps": 10, |
| "video.channels": 3, |
| "has_audio": false, |
| "video.g": 2, |
| "video.crf": 30, |
| "video.preset": 12, |
| "video.fast_decode": 0, |
| "video.video_backend": "pyav", |
| "video.extra_options": {}, |
| "is_depth_map": false |
| } |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "shoulder_pan", |
| "shoulder_lift", |
| "elbow", |
| "wrist_1", |
| "wrist_2", |
| "wrist_3", |
| "gripper_driver" |
| ] |
| }, |
| "observation.environment_state": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "object_x", |
| "object_y", |
| "object_z", |
| "object_qw", |
| "object_qx", |
| "object_qy", |
| "object_qz" |
| ] |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "d_shoulder_pan", |
| "d_shoulder_lift", |
| "d_elbow", |
| "d_wrist_1", |
| "d_wrist_2", |
| "d_wrist_3", |
| "d_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 |
| } |
| }, |
| "total_episodes": 20, |
| "total_frames": 1602, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "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", |
| "robot_type": "ur5e_robotiq", |
| "splits": { |
| "train": "0:20" |
| } |
| } |
| ``` |
|
|
|
|
| ## Citation |
|
|
| **BibTeX:** |
|
|
| ```bibtex |
| [More Information Needed] |
| ``` |
