metadata
license: cc-by-nc-nd-4.0
task_categories:
- robotics
language:
- en
tags:
- lerobot
- real-robot
- ebim
track2_combined_lerobot
Description
Combined Track 2 dataset converted from processed LABS MCAP episodes.
Dataset Structure
This dataset follows the LeRobot format:
dataset/
������ data/chunk-000/
�� ������ episode_000000.parquet
�� ������ episode_000001.parquet
�� ������ ...
������ videos/chunk-000/
�� ������ observation.images.camera_name/
�� �� ������ episode_000000.mp4
�� �� ������ episode_000001.mp4
�� �� ������ ...
�� ������ ...
������ meta/
������ episodes.jsonl
������ tasks.jsonl
������ info.json
������ modality.json (optional)
Data Format
- Parquet files: Contain synchronized observation and action data at 20 Hz
- Video files: MP4 format with AV1 compression
- Metadata files: Episode, task, and feature definitions
Conversion Details
- Source: MCAP files with CompressedVideo and robot state data
- Target FPS: 20 Hz
- Synchronization: Linear interpolation of robot states and actions
- Video format: AV1 compressed MP4 files
Usage
Load this dataset with the LeRobot library:
from lerobot_conversion.common.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("path/to/dataset")