| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
|
|
| ## Dataset Description |
|
|
|
|
|
|
| - **Homepage:** [More Information Needed] |
| - **Paper:** [More Information Needed] |
| - **License:** apache-2.0 |
|
|
| ## Dataset Structure |
|
|
| [meta/info.json](meta/info.json): |
| ```json |
| { |
| "codebase_version": "v3.0", |
| "robot_type": "genie01", |
| "total_episodes": 200, |
| "total_frames": 40717, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "fps": 30, |
| "splits": { |
| "train": "0:200" |
| }, |
| "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", |
| "features": { |
| "observation.images.head": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.hand_left": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.hand_right": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 52 |
| ], |
| "names": [ |
| "left_arm_0.pos", |
| "left_arm_1.pos", |
| "left_arm_2.pos", |
| "left_arm_3.pos", |
| "left_arm_4.pos", |
| "left_arm_5.pos", |
| "left_arm_6.pos", |
| "right_arm_0.pos", |
| "right_arm_1.pos", |
| "right_arm_2.pos", |
| "right_arm_3.pos", |
| "right_arm_4.pos", |
| "right_arm_5.pos", |
| "right_arm_6.pos", |
| "left_gripper.pos", |
| "right_gripper.pos", |
| "head.yaw", |
| "head.pitch", |
| "waist.pitch", |
| "waist.lift", |
| "left_arm.fx", |
| "left_arm.fy", |
| "left_arm.fz", |
| "left_arm.tx", |
| "left_arm.ty", |
| "left_arm.tz", |
| "right_arm.fx", |
| "right_arm.fy", |
| "right_arm.fz", |
| "right_arm.tx", |
| "right_arm.ty", |
| "right_arm.tz", |
| "left_arm.x", |
| "left_arm.y", |
| "left_arm.z", |
| "left_arm.roll", |
| "left_arm.pitch", |
| "left_arm.yaw", |
| "left_arm.qw", |
| "left_arm.qx", |
| "left_arm.qy", |
| "left_arm.qz", |
| "right_arm.x", |
| "right_arm.y", |
| "right_arm.z", |
| "right_arm.roll", |
| "right_arm.pitch", |
| "right_arm.yaw", |
| "right_arm.qw", |
| "right_arm.qx", |
| "right_arm.qy", |
| "right_arm.qz" |
| ] |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 40 |
| ], |
| "names": [ |
| "left_arm_0.pos", |
| "left_arm_1.pos", |
| "left_arm_2.pos", |
| "left_arm_3.pos", |
| "left_arm_4.pos", |
| "left_arm_5.pos", |
| "left_arm_6.pos", |
| "right_arm_0.pos", |
| "right_arm_1.pos", |
| "right_arm_2.pos", |
| "right_arm_3.pos", |
| "right_arm_4.pos", |
| "right_arm_5.pos", |
| "right_arm_6.pos", |
| "left_gripper.pos", |
| "right_gripper.pos", |
| "head.yaw", |
| "head.pitch", |
| "waist.pitch", |
| "waist.lift", |
| "left_arm.x", |
| "left_arm.y", |
| "left_arm.z", |
| "left_arm.roll", |
| "left_arm.pitch", |
| "left_arm.yaw", |
| "left_arm.qw", |
| "left_arm.qx", |
| "left_arm.qy", |
| "left_arm.qz", |
| "right_arm.x", |
| "right_arm.y", |
| "right_arm.z", |
| "right_arm.roll", |
| "right_arm.pitch", |
| "right_arm.yaw", |
| "right_arm.qw", |
| "right_arm.qx", |
| "right_arm.qy", |
| "right_arm.qz" |
| ] |
| }, |
| "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:** |
|
|
| ```bibtex |
| [More Information Needed] |
| ``` |
