rchu233/smolvla_dlolab_4task_b64_20k
Robotics • 0.5B • Updated • 33
Datasets:
400 episodes · 50 fps · 3 cameras · 384×240 av1
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"fps": 50,
"features": {
"observation.images.front": {
"dtype": "video",
"shape": [
240,
384,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 240,
"video.width": 384,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 50,
"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": {},
"is_depth_map": false
}
},
"observation.images.wrist_right": {
"dtype": "video",
"shape": [
240,
384,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 240,
"video.width": 384,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 50,
"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": {},
"is_depth_map": false
}
},
"observation.images.wrist_left": {
"dtype": "video",
"shape": [
240,
384,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 240,
"video.width": 384,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 50,
"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": {},
"is_depth_map": false
}
},
"observation.state": {
"dtype": "float32",
"shape": [
16
],
"names": [
"right_joint_1",
"right_joint_2",
"right_joint_3",
"right_joint_4",
"right_joint_5",
"right_joint_6",
"right_joint_7",
"right_gripper_width",
"left_joint_1",
"left_joint_2",
"left_joint_3",
"left_joint_4",
"left_joint_5",
"left_joint_6",
"left_joint_7",
"left_gripper_width"
]
},
"observation.joint_pos": {
"dtype": "float32",
"shape": [
18
],
"names": [
"right_joint_1",
"right_joint_2",
"right_joint_3",
"right_joint_4",
"right_joint_5",
"right_joint_6",
"right_joint_7",
"right_finger_1",
"right_finger_2",
"left_joint_1",
"left_joint_2",
"left_joint_3",
"left_joint_4",
"left_joint_5",
"left_joint_6",
"left_joint_7",
"left_finger_1",
"left_finger_2"
]
},
"observation.ee_pose": {
"dtype": "float32",
"shape": [
14
],
"names": [
"right_x",
"right_y",
"right_z",
"right_qw",
"right_qx",
"right_qy",
"right_qz",
"left_x",
"left_y",
"left_z",
"left_qw",
"left_qx",
"left_qy",
"left_qz"
]
},
"action": {
"dtype": "float32",
"shape": [
12
],
"names": [
"right_dx",
"right_dy",
"right_dz",
"left_dx",
"left_dy",
"left_dz",
"right_droll",
"right_dpitch",
"right_dyaw",
"left_droll",
"left_dpitch",
"left_dyaw"
]
},
"action.ee_delta": {
"dtype": "float32",
"shape": [
12
],
"names": [
"right_dx",
"right_dy",
"right_dz",
"left_dx",
"left_dy",
"left_dz",
"right_droll",
"right_dpitch",
"right_dyaw",
"left_droll",
"left_dpitch",
"left_dyaw"
]
},
"action.ee_pose": {
"dtype": "float32",
"shape": [
14
],
"names": [
"right_x",
"right_y",
"right_z",
"right_qw",
"right_qx",
"right_qy",
"right_qz",
"left_x",
"left_y",
"left_z",
"left_qw",
"left_qx",
"left_qy",
"left_qz"
]
},
"action.joint": {
"dtype": "float32",
"shape": [
18
],
"names": [
"right_joint_1",
"right_joint_2",
"right_joint_3",
"right_joint_4",
"right_joint_5",
"right_joint_6",
"right_joint_7",
"right_finger_1",
"right_finger_2",
"left_joint_1",
"left_joint_2",
"left_joint_3",
"left_joint_4",
"left_joint_5",
"left_joint_6",
"left_joint_7",
"left_finger_1",
"left_finger_2"
]
},
"next.reward": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"next.done": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"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": 400,
"total_frames": 40000,
"total_tasks": 4,
"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": "franka_panda",
"splits": {
"train": "0:400"
}
}
Citation
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Models trained or fine-tuned on rchu233/dlolab_4task_demos_v1