k-valentin/g1ah_nav_layout

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "fps": 30,
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "kLeftShoulderPitch.q",
                "kLeftShoulderRoll.q",
                "kLeftShoulderYaw.q",
                "kLeftElbow.q",
                "kLeftWristRoll.q",
                "kLeftWristPitch.q",
                "kLeftWristYaw.q",
                "kRightShoulderPitch.q",
                "kRightShoulderRoll.q",
                "kRightShoulderYaw.q",
                "kRightElbow.q",
                "kRightWristRoll.q",
                "kRightWristPitch.q",
                "kRightWristYaw.q",
                "kHeadYaw.q",
                "kHeadPitch.q",
                "kLeftHand.closure",
                "kRightHand.closure",
                "kNavVx.cmd",
                "kNavVy.cmd",
                "kNavYawRate.cmd",
                "kBaseHeight.cmd"
            ],
            "shape": [
                22
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "kLeftShoulderPitch.q",
                "kLeftShoulderRoll.q",
                "kLeftShoulderYaw.q",
                "kLeftElbow.q",
                "kLeftWristRoll.q",
                "kLeftWristPitch.q",
                "kLeftWristYaw.q",
                "kRightShoulderPitch.q",
                "kRightShoulderRoll.q",
                "kRightShoulderYaw.q",
                "kRightElbow.q",
                "kRightWristRoll.q",
                "kRightWristPitch.q",
                "kRightWristYaw.q",
                "kHeadYaw.q",
                "kHeadPitch.q",
                "kLeftHand.closure",
                "kRightHand.closure"
            ],
            "shape": [
                18
            ]
        },
        "observation.images.head": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "is_depth_map": false,
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": 12,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {}
            }
        },
        "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
        }
    },
    "total_episodes": 1,
    "total_frames": 1792,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "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",
    "robot_type": "unitree_g1-23dof_rev_1_0-amazing_hand-pan_tilt-d455",
    "splits": {
        "train": "0:1"
    }
}

Citation

BibTeX:

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