| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - robotics |
| - manipulation |
| configs: |
| - config_name: default |
| data_files: |
| - split: train |
| path: data/**/*.parquet |
| --- |
| |
| # mydataset (TEST) |
|
|
| ## Dataset Description |
|
|
| LeRobot v3.0 format dataset collected via the LeRobot Dataset Proxy Server. |
| This dataset contains robot manipulation episodes with synchronized sensor data and video recordings. |
|
|
| ## Dataset Structure |
|
|
| ``` |
| mydataset/ |
| ├── data/ |
| │ └── chunk-000/ |
| │ ├── episode_000000.parquet |
| │ ├── episode_000001.parquet |
| │ └── ... |
| ├── videos/ |
| │ └── observation.images.front/ |
| │ └── chunk-000/ |
| │ ├── episode_000000.mp4 |
| │ ├── episode_000001.mp4 |
| │ └── ... |
| ├── meta/ |
| │ ├── info.json |
| │ ├── episodes.jsonl |
| │ └── tasks.jsonl |
| └── README.md |
| ``` |
|
|
| ## Data Format |
|
|
| ### Parquet Columns |
|
|
| Each episode parquet file contains the following columns: |
|
|
| | Column | Type | Description | |
| |--------|------|-------------| |
| | `timestamp` | float64 | Timestamp in seconds | |
| | `frame_index` | int64 | Frame index within the episode | |
| | `episode_index` | int64 | Episode identifier | |
| | `action` | list[float] | Robot action vector | |
| | `observation.state` | list[float] | Robot joint states | |
|
|
| ### Video |
|
|
| - Format: MP4 |
| - Camera views: `observation.images.front` |
|
|
| ### Metadata (meta/info.json) |
|
|
| ```json |
| { |
| "codebase_version": "v3.0", |
| "robot_type": "so100", |
| "fps": 30, |
| "total_episodes": 0, |
| "total_frames": 0, |
| "total_tasks": 1, |
| "total_chunks": 1 |
| } |
| ``` |
|
|
| ## Collection Details |
|
|
| - **Robot**: SO-100 |
| - **Control Frequency**: 30 Hz |
| - **Proxy Server**: LeRobot Dataset Proxy (FastAPI + Celery) |
| - **Storage**: HuggingFace Hub (LFS for large files) |
|
|
| ## Usage |
|
|
| ### With LeRobot |
|
|
| ```python |
| from lerobot.common.datasets.lerobot_dataset import LeRobotDataset |
| |
| dataset = LeRobotDataset("echwang/mydataset") |
| print(f"Episodes: {dataset.num_episodes}") |
| print(f"Frames: {dataset.num_frames}") |
| ``` |
|
|
| ### With surro-cli |
|
|
| ```bash |
| # Download |
| surro dataset download --name mydataset |
| |
| # Upload a new episode |
| surro episode upload --dataset mydataset --dir ./episode_001 |
| ``` |
|
|
| ### With HuggingFace Datasets |
|
|
| ```python |
| from datasets import load_dataset |
| |
| dataset = load_dataset("echwang/mydataset") |
| ``` |
|
|
| ## License |
|
|
| This dataset is released under the [Apache 2.0 License](https://www.apache.org/licenses/LICENSE-2.0). |
|
|
