Episodes Preview unified_robot Visualizer
20 episodes · 10 fps · 3 cameras · 1280×720 h264

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "unified_robot",
    "total_episodes": 20,
    "total_frames": 7709,
    "total_tasks": 13,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:20"
    },
    "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.state": {
            "dtype": "float32",
            "shape": [
                10
            ],
            "names": [
                [
                    "x",
                    "y",
                    "z",
                    "rot6d_0",
                    "rot6d_1",
                    "rot6d_2",
                    "rot6d_3",
                    "rot6d_4",
                    "rot6d_5",
                    "gripper"
                ]
            ],
            "fps": 10
        },
        "action": {
            "dtype": "float32",
            "shape": [
                10
            ],
            "names": [
                [
                    "x",
                    "y",
                    "z",
                    "rot6d_0",
                    "rot6d_1",
                    "rot6d_2",
                    "rot6d_3",
                    "rot6d_4",
                    "rot6d_5",
                    "gripper"
                ]
            ],
            "fps": 10
        },
        "observation.images.cam_wrist": {
            "dtype": "video",
            "shape": [
                3,
                360,
                640
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.cam_ext_left": {
            "dtype": "video",
            "shape": [
                3,
                360,
                640
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.cam_ext_right": {
            "dtype": "video",
            "shape": [
                3,
                360,
                640
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 10
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 10
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 10
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 10
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 10
        }
    },
    "measured_control_hz": 9.26,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200
}

Citation

BibTeX:

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