Datasets:
This dataset was created using LeRobot.
Dataset Structure
{
"chunks_size": 1000,
"codebase_version": "v2.1",
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"features": {
"action": {
"dtype": "float32",
"names": {
"motors": [
"joint1",
"joint2",
"joint3",
"joint4",
"joint5",
"joint6",
"joint7",
"gripper_dummy_joint"
]
},
"shape": [
6
]
},
"episode_index": {
"dtype": "int64",
"names": null,
"shape": [
1
]
},
"frame_index": {
"dtype": "int64",
"names": null,
"shape": [
1
]
},
"index": {
"dtype": "int64",
"names": null,
"shape": [
1
]
},
"next.done": {
"dtype": "bool",
"names": null,
"shape": [
1
]
},
"observation.images.camera": {
"dtype": "video",
"names": [
"height",
"width",
"channel"
],
"shape": [
240,
424,
3
],
"video_info": {
"has_audio": false,
"video.codec": "av1",
"video.fps": 20,
"video.is_depth_map": false,
"video.pix_fmt": "yuv420p"
}
},
"observation.state": {
"dtype": "float32",
"names": {
"motors": [
"joint1",
"joint2",
"joint3",
"joint4",
"joint5",
"joint6",
"joint7",
"gripper_dummy_joint"
]
},
"shape": [
8
]
},
"task_index": {
"dtype": "int64",
"names": null,
"shape": [
1
]
},
"timestamp": {
"dtype": "float32",
"names": null,
"shape": [
1
]
}
},
"fps": 20,
"robot_type": "apart",
"splits": {
"train": "0:47"
},
"total_chunks": 1,
"total_episodes": 47,
"total_frames": 19206,
"total_tasks": 1,
"total_videos": 47,
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4"
}
Citation
BibTeX:
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