YAM Datasets
Collection
2 items • Updated
160 episodes · 30 fps · 3 cameras · 640×480 h264
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "yam_bimanual",
"total_episodes": 160,
"total_frames": 251080,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:160"
},
"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.images.wrist_left": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.wrist_right": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.agentview": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.state": {
"dtype": "float32",
"shape": [
42
],
"names": [
"left.pos.0",
"left.pos.1",
"left.pos.2",
"left.pos.3",
"left.pos.4",
"left.pos.5",
"left.pos.6",
"left.vel.0",
"left.vel.1",
"left.vel.2",
"left.vel.3",
"left.vel.4",
"left.vel.5",
"left.vel.6",
"left.eff.0",
"left.eff.1",
"left.eff.2",
"left.eff.3",
"left.eff.4",
"left.eff.5",
"left.eff.6",
"right.pos.0",
"right.pos.1",
"right.pos.2",
"right.pos.3",
"right.pos.4",
"right.pos.5",
"right.pos.6",
"right.vel.0",
"right.vel.1",
"right.vel.2",
"right.vel.3",
"right.vel.4",
"right.vel.5",
"right.vel.6",
"right.eff.0",
"right.eff.1",
"right.eff.2",
"right.eff.3",
"right.eff.4",
"right.eff.5",
"right.eff.6"
]
},
"observation.leader": {
"dtype": "float32",
"shape": [
12
],
"names": [
"left.leader.0",
"left.leader.1",
"left.leader.2",
"left.leader.3",
"left.leader.4",
"left.leader.5",
"right.leader.0",
"right.leader.1",
"right.leader.2",
"right.leader.3",
"right.leader.4",
"right.leader.5"
]
},
"observation.eef": {
"dtype": "float32",
"shape": [
14
],
"names": [
"left.eef.x",
"left.eef.y",
"left.eef.z",
"left.eef.qw",
"left.eef.qx",
"left.eef.qy",
"left.eef.qz",
"right.eef.x",
"right.eef.y",
"right.eef.z",
"right.eef.qw",
"right.eef.qx",
"right.eef.qy",
"right.eef.qz"
]
},
"observation.control_mode": {
"dtype": "float32",
"shape": [
1
],
"names": [
"control_mode.0"
]
},
"action": {
"dtype": "float32",
"shape": [
14
],
"names": [
"left.act.0",
"left.act.1",
"left.act.2",
"left.act.3",
"left.act.4",
"left.act.5",
"left.act.6",
"right.act.0",
"right.act.1",
"right.act.2",
"right.act.3",
"right.act.4",
"right.act.5",
"right.act.6"
]
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
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