FedorX8/kuka_lerobot

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
  "codebase_version": "v3.0",
  "robot_type": "unknown",
  "total_episodes": 3000,
  "total_frames": 149985,
  "total_tasks": 1,
  "chunks_size": 1000,
  "fps": 20,
  "splits": {
    "train": "0:3000"
  },
  "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",
  "features": {
    "observation.images.image": {
      "dtype": "video",
      "shape": [
        128,
        128,
        3
      ],
      "names": [
        "height",
        "width",
        "channel"
      ],
      "video_info": {
        "video.fps": 20.0,
        "video.codec": "av1",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "has_audio": false
      }
    },
    "observation.state": {
      "dtype": "float32",
      "shape": [
        7
      ],
      "names": {
        "motors": [
          "motor_0",
          "motor_1",
          "motor_2",
          "motor_3",
          "motor_4",
          "motor_5",
          "motor_6"
        ]
      },
      "fps": 20.0
    },
    "action": {
      "dtype": "float32",
      "shape": [
        7
      ],
      "names": {
        "motors": [
          "motor_0",
          "motor_1",
          "motor_2",
          "motor_3",
          "motor_4",
          "motor_5",
          "motor_6"
        ]
      },
      "fps": 20.0
    },
    "timestamp": {
      "dtype": "float32",
      "shape": [
        1
      ],
      "names": null,
      "fps": 20.0
    },
    "episode_index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null,
      "fps": 20.0
    },
    "frame_index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null,
      "fps": 20.0
    },
    "next.reward": {
      "dtype": "float32",
      "shape": [
        1
      ],
      "names": null,
      "fps": 20.0
    },
    "next.done": {
      "dtype": "bool",
      "shape": [
        1
      ],
      "names": null,
      "fps": 20.0
    },
    "index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null,
      "fps": 20.0
    },
    "task_index": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null,
      "fps": 20.0
    }
  },
  "data_files_size_in_mb": 100,
  "video_files_size_in_mb": 500
}

Citation

BibTeX:

@inproceedings{lee2019icra,
    title={Making sense of vision and touch: Self-supervised learning of multimodal representations for contact-rich tasks},
    author={Lee, Michelle A and Zhu, Yuke and Srinivasan, Krishnan and Shah, Parth and Savarese, Silvio and Fei-Fei, Li and  Garg, Animesh and Bohg, Jeannette},
    booktitle={2019 IEEE International Conference on Robotics and Automation (ICRA)},
    year={2019},
    url={https://arxiv.org/abs/1810.10191}
}