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Datasets:
anashoussaini
/
stack_auto

Tasks:
Robotics
Modalities:
Tabular
Time-series
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
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+ ---
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+ license: apache-2.0
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+ task_categories:
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+ - robotics
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+ tags:
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+ - LeRobot
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+ configs:
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+ - config_name: default
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+ data_files: data/*/*.parquet
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+ ---
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+
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+ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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+
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+ ## Dataset Description
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+
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+
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+
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+ - **Homepage:** [More Information Needed]
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+ - **Paper:** [More Information Needed]
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+ - **License:** apache-2.0
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+
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+ ## Dataset Structure
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+
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+ [meta/info.json](meta/info.json):
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+ ```json
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+ {
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+ "codebase_version": "v3.0",
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+ "robot_type": null,
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+ "total_episodes": 50,
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+ "total_frames": 15855,
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+ "total_tasks": 1,
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+ "chunks_size": 1000,
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+ "data_files_size_in_mb": 100,
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+ "video_files_size_in_mb": 500,
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+ "fps": 20,
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+ "splits": {
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+ "train": "0:50"
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+ },
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+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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+ "features": {
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+ "obs.state.gripper.qpos": {
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+ "dtype": "float32",
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+ "shape": [
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+ 2
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+ ]
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+ },
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+ "obs.state.gripper.qtorque": {
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+ "dtype": "float32",
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+ "shape": [
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+ 2
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+ ]
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+ },
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+ "obs.state.gripper.qvel": {
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+ "dtype": "float32",
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+ "shape": [
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+ 2
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+ ]
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+ },
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+ "obs.state.gripper.tactile.left_elastomer.contact": {
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+ "dtype": "float32",
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+ "shape": [
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+ 1
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+ ]
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+ },
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+ "obs.state.gripper.tactile.left_elastomer.force": {
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+ "dtype": "float32",
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+ "shape": [
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+ 3
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+ ]
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+ },
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+ "obs.state.gripper.tactile.left_elastomer.force_grid": {
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+ "dtype": "float32",
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+ "shape": [
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+ 12,
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+ 32
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+ ]
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+ },
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+ "obs.state.gripper.tactile.left_elastomer.force_grid_norm": {
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+ "dtype": "float32",
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+ "shape": [
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+ 12,
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+ 32
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+ ]
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+ },
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+ "obs.state.gripper.tactile.left_elastomer.force_norm": {
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+ "dtype": "float32",
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+ "shape": [
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+ 1
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+ ]
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+ },
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+ "obs.state.gripper.tactile.left_elastomer.points": {
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+ "dtype": "float32",
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+ "shape": [
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+ 384,
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+ 4
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+ ]
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+ },
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+ "obs.state.gripper.tactile.left_elastomer.points_raw": {
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+ "dtype": "float32",
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+ "shape": [
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+ 384,
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+ 4
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+ ]
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+ },
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+ "obs.state.gripper.tactile.left_elastomer.pos": {
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+ "dtype": "float32",
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+ "shape": [
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+ 3
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+ ]
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+ },
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+ "obs.state.gripper.tactile.left_elastomer.quat": {
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+ "dtype": "float32",
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+ "shape": [
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+ 4
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+ ]
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+ },
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+ "reward": {
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+ "dtype": "float32",
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+ "shape": [
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+ 1
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+ ]
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+ },
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+ "truncated": {
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+ "dtype": "bool",
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+ "shape": [
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+ 1
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+ ]
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+ },
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+ "success": {
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+ "dtype": "bool",
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+ "shape": [
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+ 1
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+ ]
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+ },
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+ "failure": {
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+ "dtype": "bool",
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+ "shape": [
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+ 1
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+ ]
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+ },
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+ "action": {
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+ "dtype": "float32",
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+ "shape": [
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+ 9
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+ ]
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+ },
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+ "obs.state.gripper.tactile.right_elastomer.contact": {
149
+ "dtype": "float32",
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+ "shape": [
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+ 1
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+ ]
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+ },
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+ "obs.state.gripper.tactile.right_elastomer.force": {
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+ "dtype": "float32",
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+ "shape": [
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+ 3
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+ ]
159
+ },
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+ "obs.state.gripper.tactile.right_elastomer.force_grid": {
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+ "dtype": "float32",
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+ "shape": [
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+ 12,
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+ 32
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+ ]
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+ },
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+ "obs.state.gripper.tactile.right_elastomer.force_grid_norm": {
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+ "dtype": "float32",
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+ "shape": [
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+ 12,
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+ 32
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+ ]
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+ },
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+ "obs.state.gripper.tactile.right_elastomer.force_norm": {
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+ "dtype": "float32",
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+ "shape": [
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+ 1
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+ ]
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+ },
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+ "obs.state.gripper.tactile.right_elastomer.points": {
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+ "dtype": "float32",
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+ "shape": [
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+ 384,
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+ 4
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+ ]
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+ },
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+ "obs.state.gripper.tactile.right_elastomer.points_raw": {
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+ "dtype": "float32",
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+ "shape": [
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+ 384,
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+ 4
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+ ]
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+ },
194
+ "obs.state.gripper.tactile.right_elastomer.pos": {
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+ "dtype": "float32",
196
+ "shape": [
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+ 3
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+ ]
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+ },
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+ "obs.state.gripper.tactile.right_elastomer.quat": {
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+ "dtype": "float32",
202
+ "shape": [
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+ 4
204
+ ]
205
+ },
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+ "obs.state.gripper.tactile.tactile_points": {
207
+ "dtype": "float32",
208
+ "shape": [
209
+ 768,
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+ 4
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+ ]
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+ },
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+ "obs.state.gripper.tactile.tactile_points_raw": {
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+ "dtype": "float32",
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+ "shape": [
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+ 768,
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+ 4
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+ ]
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+ },
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+ "obs.state.gripper.tcp_pos": {
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+ "dtype": "float32",
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+ "shape": [
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+ 3
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+ ]
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+ },
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+ "obs.state.gripper.tcp_quat": {
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+ "dtype": "float32",
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+ "shape": [
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+ 4
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+ ]
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+ },
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+ "obs.state.manipulator.eef_pos": {
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+ "dtype": "float32",
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+ "shape": [
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+ 1,
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+ 3
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+ ]
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+ },
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+ "obs.state.manipulator.eef_quat": {
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+ "dtype": "float32",
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+ "shape": [
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+ 1,
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+ 4
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+ ]
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+ },
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+ "obs.state.manipulator.qpos": {
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+ "dtype": "float32",
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+ "shape": [
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+ 7
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+ ]
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+ },
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+ "obs.state.manipulator.qtorque": {
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+ "dtype": "float32",
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+ "shape": [
255
+ 7
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+ ]
257
+ },
258
+ "obs.state.manipulator.qvel": {
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+ "dtype": "float32",
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+ "shape": [
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+ 7
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+ ]
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+ },
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+ "obs.state.other.action": {
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+ "dtype": "float32",
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+ "shape": [
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+ 9
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+ ]
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+ },
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+ "obs.state.other.cube_a_pos": {
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+ "dtype": "float32",
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+ "shape": [
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+ 3
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+ ]
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+ },
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+ "obs.state.other.cube_a_quat": {
277
+ "dtype": "float32",
278
+ "shape": [
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+ 4
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+ ]
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+ },
282
+ "obs.state.other.cube_b_pos": {
283
+ "dtype": "float32",
284
+ "shape": [
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+ 3
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+ ]
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+ },
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+ "obs.state.other.cube_b_quat": {
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+ "dtype": "float32",
290
+ "shape": [
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+ 4
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+ ]
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+ },
294
+ "obs.state.other.cube_c_pos": {
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+ "dtype": "float32",
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+ "shape": [
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+ 3
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+ ]
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+ },
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+ "obs.state.other.cube_c_quat": {
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+ "dtype": "float32",
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+ "shape": [
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+ 4
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+ ]
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+ },
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+ "obs.state.other.last_action": {
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+ "dtype": "float32",
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+ "shape": [
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+ 9
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+ ]
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+ },
312
+ "obs.cameras.front.depth": {
313
+ "dtype": "float32",
314
+ "shape": [
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+ 224,
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+ 224
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+ ]
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+ },
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+ "obs.cameras.front.rgb": {
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+ "dtype": "video",
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+ "shape": [
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+ 224,
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+ 224,
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+ 3
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+ ],
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+ "info": {
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+ "video.height": 224,
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+ "video.width": 224,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "video.fps": 20,
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+ "video.channels": 3,
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+ "has_audio": false
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+ }
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+ },
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+ "obs.cameras.right_side.depth": {
338
+ "dtype": "float32",
339
+ "shape": [
340
+ 224,
341
+ 224
342
+ ]
343
+ },
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+ "obs.cameras.right_side.rgb": {
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+ "dtype": "video",
346
+ "shape": [
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+ 224,
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+ 224,
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+ 3
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+ ],
351
+ "info": {
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+ "video.height": 224,
353
+ "video.width": 224,
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+ "video.codec": "av1",
355
+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "video.fps": 20,
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+ "video.channels": 3,
359
+ "has_audio": false
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+ }
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+ },
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+ "obs.cameras.wrist.depth": {
363
+ "dtype": "float32",
364
+ "shape": [
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+ 224,
366
+ 224
367
+ ]
368
+ },
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+ "obs.cameras.wrist.rgb": {
370
+ "dtype": "video",
371
+ "shape": [
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+ 224,
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+ 224,
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+ 3
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+ ],
376
+ "info": {
377
+ "video.height": 224,
378
+ "video.width": 224,
379
+ "video.codec": "av1",
380
+ "video.pix_fmt": "yuv420p",
381
+ "video.is_depth_map": false,
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+ "video.fps": 20,
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+ "video.channels": 3,
384
+ "has_audio": false
385
+ }
386
+ },
387
+ "timestamp": {
388
+ "dtype": "float32",
389
+ "shape": [
390
+ 1
391
+ ],
392
+ "names": null
393
+ },
394
+ "frame_index": {
395
+ "dtype": "int64",
396
+ "shape": [
397
+ 1
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+ ],
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+ "names": null
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+ },
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+ "episode_index": {
402
+ "dtype": "int64",
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+ "shape": [
404
+ 1
405
+ ],
406
+ "names": null
407
+ },
408
+ "index": {
409
+ "dtype": "int64",
410
+ "shape": [
411
+ 1
412
+ ],
413
+ "names": null
414
+ },
415
+ "task_index": {
416
+ "dtype": "int64",
417
+ "shape": [
418
+ 1
419
+ ],
420
+ "names": null
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+ }
422
+ },
423
+ "task": "stack",
424
+ "options": null
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+ }
426
+ ```
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+
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+
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+ ## Citation
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+
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+ **BibTeX:**
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+
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+ ```bibtex
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+ [More Information Needed]
435
+ ```