metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- robotics
- lerobot
- bimanual
- manipulation
- sfp
- wire-sorting
- vla
configs:
- config_name: default
data_files: data/*/*.parquet
This dataset was created using LeRobot.
Dataset Description
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
{
"codebase_version": "v3.0",
"fps": 20,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
16
],
"names": [
"left_pos_x",
"left_pos_y",
"left_pos_z",
"left_quat_w",
"left_quat_x",
"left_quat_y",
"left_quat_z",
"left_gripper",
"right_pos_x",
"right_pos_y",
"right_pos_z",
"right_quat_w",
"right_quat_x",
"right_quat_y",
"right_quat_z",
"right_gripper"
]
},
"action": {
"dtype": "float32",
"shape": [
16
],
"names": [
"left_dpos_x",
"left_dpos_y",
"left_dpos_z",
"left_dquat_w",
"left_dquat_x",
"left_dquat_y",
"left_dquat_z",
"left_gripper",
"right_dpos_x",
"right_dpos_y",
"right_dpos_z",
"right_dquat_w",
"right_dquat_x",
"right_dquat_y",
"right_dquat_z",
"right_gripper"
]
},
"observation.images.left": {
"dtype": "video",
"shape": [
512,
512,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 512,
"video.width": 512,
"video.codec": "hevc",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": null,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {
"bf": 0
}
}
},
"observation.images.right": {
"dtype": "video",
"shape": [
512,
512,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 512,
"video.width": 512,
"video.codec": "hevc",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": null,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {
"bf": 0
}
}
},
"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": 1924,
"total_frames": 1908710,
"total_tasks": 3,
"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": "synhd2_bimanual",
"splits": {
"train": "0:1924"
}
}
Citation
BibTeX:
[More Information Needed]