| --- |
| 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:
|
|
|
| ```python
|
| from lerobot_conversion.common.datasets.lerobot_dataset import LeRobotDataset
|
|
|
| dataset = LeRobotDataset("path/to/dataset")
|
| ```
|
|
|
|
|
