200 episodes · 10 fps · 3 cameras · 320×240 h264
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"fps": 10,
"features": {
"observation.images.head": {
"dtype": "video",
"shape": [
240,
320,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 240,
"video.width": 320,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left_hand": {
"dtype": "video",
"shape": [
240,
320,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 240,
"video.width": 320,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right_hand": {
"dtype": "video",
"shape": [
240,
320,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 240,
"video.width": 320,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.state": {
"dtype": "float32",
"shape": [
44
],
"names": [
"left_ee_x",
"left_ee_y",
"left_ee_z",
"left_ee_qw",
"left_ee_qx",
"left_ee_qy",
"left_ee_qz",
"right_ee_x",
"right_ee_y",
"right_ee_z",
"right_ee_qw",
"right_ee_qx",
"right_ee_qy",
"right_ee_qz",
"left_jpos_0",
"left_jpos_1",
"left_jpos_2",
"left_jpos_3",
"left_jpos_4",
"left_jpos_5",
"left_jpos_6",
"right_jpos_0",
"right_jpos_1",
"right_jpos_2",
"right_jpos_3",
"right_jpos_4",
"right_jpos_5",
"right_jpos_6",
"left_jvel_0",
"left_jvel_1",
"left_jvel_2",
"left_jvel_3",
"left_jvel_4",
"left_jvel_5",
"left_jvel_6",
"right_jvel_0",
"right_jvel_1",
"right_jvel_2",
"right_jvel_3",
"right_jvel_4",
"right_jvel_5",
"right_jvel_6",
"left_gripper",
"right_gripper"
]
},
"action": {
"dtype": "float32",
"shape": [
14
],
"names": [
"left_ee_x",
"left_ee_y",
"left_ee_z",
"left_ee_rx",
"left_ee_ry",
"left_ee_rz",
"left_gripper",
"right_ee_x",
"right_ee_y",
"right_ee_z",
"right_ee_rx",
"right_ee_ry",
"right_ee_rz",
"right_gripper"
]
},
"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
},
"language_persistent": {
"dtype": "language",
"shape": [
1
],
"names": null
},
"language_events": {
"dtype": "language",
"shape": [
1
],
"names": null
}
},
"total_episodes": 200,
"total_frames": 121454,
"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": "vega_1u",
"splits": {
"train": "0:200"
},
"tools": [
{
"type": "function",
"function": {
"name": "say",
"description": "Speak a short utterance to the user via the TTS executor.",
"parameters": {
"type": "object",
"properties": {
"text": {
"type": "string",
"description": "The verbatim text to speak."
}
},
"required": [
"text"
]
}
}
}
]
}
Citation
BibTeX:
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