Datasets:
metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- real
- hdf5
- hessian
- 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": "hessian",
"total_episodes": 197,
"total_frames": 66397,
"total_tasks": 1,
"total_videos": 591,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 60,
"splits": {
"train": "0:197"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"observation.images.video_left": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 60,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.video_overhead": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 60,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.video_right": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 60,
"video.channels": 3,
"has_audio": false
}
},
"observation.state": {
"dtype": "float32",
"shape": [
14
],
"names": [
"state"
]
},
"observation.velocity": {
"dtype": "float32",
"shape": [
12
],
"names": [
"velocity"
]
},
"action": {
"dtype": "float32",
"shape": [
14
],
"names": [
"action"
]
},
"source.action_time_s": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"metadata.arm_recording_key": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"metadata.camera_names": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"metadata.can_interface_left": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"metadata.can_interface_right": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"metadata.compress": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"metadata.config_path": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"metadata.config_sha256": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"metadata.double_arm": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"metadata.fps": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"metadata.goal_schema_version": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"metadata.pedal_key_map": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"metadata.phase_count": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"metadata.phase_labels": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"metadata.robot_type": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"metadata.sim": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"metadata.single_arm": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"metadata.start_gripper": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"metadata.start_position_enabled": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"metadata.start_position_move_duration": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"metadata.start_position_path": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"metadata.task_name": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"metadata.task_variant": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"metadata.use_camera_server": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"prompt": {
"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
}
}
}
Citation
BibTeX:
[More Information Needed]