Datasets:
240 episodes · 30 fps · 4 cameras · 640×480 av1
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "stationary",
"total_episodes": 240,
"total_frames": 84537,
"total_tasks": 33,
"chunks_size": 1000,
"data_files_size_in_mb": 1000000,
"video_files_size_in_mb": 1000000,
"fps": 30,
"splits": {
"train": "0:240"
},
"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": [
14
],
"names": [
"left_joint_0.pos",
"left_joint_1.pos",
"left_joint_2.pos",
"left_joint_3.pos",
"left_joint_4.pos",
"left_joint_5.pos",
"left_left_carriage_joint.pos",
"right_joint_0.pos",
"right_joint_1.pos",
"right_joint_2.pos",
"right_joint_3.pos",
"right_joint_4.pos",
"right_joint_5.pos",
"right_left_carriage_joint.pos"
]
},
"action": {
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"shape": [
14
],
"names": [
"left_joint_0.pos",
"left_joint_1.pos",
"left_joint_2.pos",
"left_joint_3.pos",
"left_joint_4.pos",
"left_joint_5.pos",
"left_left_carriage_joint.pos",
"right_joint_0.pos",
"right_joint_1.pos",
"right_joint_2.pos",
"right_joint_3.pos",
"right_joint_4.pos",
"right_joint_5.pos",
"right_left_carriage_joint.pos"
]
},
"observation.images.cam_high": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"video.fps": 30,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false,
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.cam_low": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"video.fps": 30,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false,
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.cam_left_wrist": {
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"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"video.fps": 30,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false,
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
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}
},
"observation.images.cam_right_wrist": {
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"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"video.fps": 30,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false,
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.environment_state": {
"dtype": "float32",
"shape": [
29
],
"names": [
"cube_red.x",
"cube_red.y",
"cube_red.z",
"cube_red.qx",
"cube_red.qy",
"cube_red.qz",
"cube_red.qw",
"cube_blue.x",
"cube_blue.y",
"cube_blue.z",
"cube_blue.qx",
"cube_blue.qy",
"cube_blue.qz",
"cube_blue.qw",
"cube_yellow.x",
"cube_yellow.y",
"cube_yellow.z",
"cube_yellow.qx",
"cube_yellow.qy",
"cube_yellow.qz",
"cube_yellow.qw",
"bin_round.x",
"bin_round.y",
"bin_triangle.x",
"bin_triangle.y",
"bin_square.x",
"bin_square.y",
"target_cube",
"target_bin"
]
},
"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": [
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],
"names": null
}
}
}
Citation
BibTeX:
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