Datasets:
42 episodes · 30 fps · 3 cameras · 1280×720 av1
This dataset was created using LeRobot.
Dataset Description
Recorded at 30 Hz with the barcode scanners read by the recorder: scan.barcode holds the barcode read just before each frame (0 = none). flare convert --stage starts stage 1 at the first scan of a registered barcode (a misread of one counts); 0b (a left release before the scan) is found at conversion, see the converted dataset.
| episode | length | stage 1 starts (first scan) | all scans (frame: item) |
|---|---|---|---|
| 0 | 59.8 s (1795) | 46.1 s (frame 1384) | 1384: spam |
| 1 | 52.6 s (1578) | 41.4 s (frame 1243) | 1243: spam |
| 2 | 52.3 s (1569) | 39.8 s (frame 1194) | 1194: spam |
| 3 | 49.1 s (1472) | 38.0 s (frame 1140) | 1140: spam |
| 4 | 56.1 s (1683) | 45.5 s (frame 1366) | 1366: spam |
| 5 | 51.5 s (1545) | 39.1 s (frame 1172) | 1172: spam |
| 6 | 52.1 s (1562) | 42.0 s (frame 1260) | 1260: spam |
| 7 | 51.5 s (1546) | 41.2 s (frame 1236) | 1236: spam |
| 8 | 57.8 s (1733) | 46.3 s (frame 1388) | 1388: spam |
| 9 | 46.2 s (1385) | 36.1 s (frame 1082) | 1082: spam |
| 10 | 54.4 s (1633) | 43.9 s (frame 1316) | 1316: spam |
| 11 | 50.4 s (1513) | 39.3 s (frame 1180) | 1180: spam |
| 12 | 49.2 s (1476) | 37.9 s (frame 1137) | 1137: spam |
| 13 | 46.1 s (1384) | 36.7 s (frame 1102) | 1102: spam |
| 14 | 43.1 s (1293) | 34.1 s (frame 1024) | 1024: spam |
| 15 | 43.0 s (1289) | 33.4 s (frame 1002) | 1002: spam |
| 16 | 45.6 s (1369) | 34.4 s (frame 1032) | 1032: spam |
| 17 | 43.7 s (1312) | 34.7 s (frame 1042) | 1042: spam |
| 18 | 47.9 s (1436) | 37.6 s (frame 1129) | 1129: spam |
| 19 | 55.9 s (1676) | 44.7 s (frame 1340) | 1340: spam |
| 20 | 47.7 s (1430) | 37.6 s (frame 1128) | 1128: spam |
| 21 | 54.1 s (1623) | 44.2 s (frame 1326) | 1326: spam |
| 22 | 45.4 s (1362) | 35.8 s (frame 1073) | 1073: spam |
| 23 | 50.4 s (1511) | 38.8 s (frame 1163) | 1163: spam |
| 24 | 48.7 s (1462) | 39.9 s (frame 1196) | 1196: spam |
| 25 | 49.1 s (1472) | 39.1 s (frame 1173) | 1173: spam |
| 26 | 45.7 s (1371) | 35.8 s (frame 1075) | 1075: spam |
| 27 | 51.6 s (1548) | 41.8 s (frame 1255) | 1255: spam |
| 28 | 43.5 s (1306) | 34.1 s (frame 1022) | 1022: spam |
| 29 | 49.5 s (1485) | 36.0 s (frame 1079) | 1079: spam |
| 30 | 45.9 s (1377) | 34.3 s (frame 1029) | 1029: spam |
| 31 | 47.7 s (1431) | 36.0 s (frame 1080) | 1080: spam |
| 32 | 50.2 s (1507) | 37.9 s (frame 1136) | 1136: spam |
| 33 | 52.2 s (1565) | 41.2 s (frame 1237) | 1237: spam |
| 34 | 48.1 s (1444) | 37.8 s (frame 1133) | 1133: spam |
| 35 | 49.3 s (1479) | 38.8 s (frame 1165) | 1165: spam |
| 36 | 49.9 s (1497) | 38.6 s (frame 1158) | 1158: spam |
| 37 | 49.0 s (1471) | 38.4 s (frame 1151) | 1151: spam |
| 38 | 47.6 s (1428) | 36.4 s (frame 1091) | 1091: spam |
| 39 | 48.2 s (1447) | 36.6 s (frame 1098) | 1098: spam |
| 40 | 49.6 s (1488) | 39.1 s (frame 1172) | 1172: spam |
| 41 | 43.7 s (1312) | 32.8 s (frame 983) | 983: spam |
Every raw read (both scanners, duplicates included) is in scan_log.csv.
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "bi_piper_follower",
"total_episodes": 42,
"total_frames": 62265,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:42"
},
"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": {
"action": {
"dtype": "float32",
"names": [
"left_joint1.pos",
"left_joint2.pos",
"left_joint3.pos",
"left_joint4.pos",
"left_joint5.pos",
"left_joint6.pos",
"left_gripper.pos",
"right_joint1.pos",
"right_joint2.pos",
"right_joint3.pos",
"right_joint4.pos",
"right_joint5.pos",
"right_joint6.pos",
"right_gripper.pos",
"neck_pitch.pos",
"neck_yaw.pos"
],
"shape": [
16
]
},
"observation.state": {
"dtype": "float32",
"names": [
"left_joint1.pos",
"left_joint2.pos",
"left_joint3.pos",
"left_joint4.pos",
"left_joint5.pos",
"left_joint6.pos",
"left_gripper.pos",
"right_joint1.pos",
"right_joint2.pos",
"right_joint3.pos",
"right_joint4.pos",
"right_joint5.pos",
"right_joint6.pos",
"right_gripper.pos",
"neck_pitch.pos",
"neck_yaw.pos"
],
"shape": [
16
]
},
"observation.images.left_main": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 720,
"video.width": 1280,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"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.right_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"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
}
},
"scan.barcode": {
"dtype": "int64",
"shape": [
1
],
"names": [
"barcode"
]
},
"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
}
}
}
Citation
BibTeX:
[More Information Needed]
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