| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - lerobot |
| - abc-130k |
| - bimanual |
| - yam |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
|
|
|
|
| <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=typoverflow/abc_130k_train"> |
| <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/> |
| <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/> |
| </a> |
|
|
|
|
| ## Dataset Description |
|
|
|
|
|
|
| - **Homepage:** [More Information Needed] |
| - **Paper:** [More Information Needed] |
| - **License:** apache-2.0 |
|
|
| ## Dataset Structure |
|
|
| [meta/info.json](meta/info.json): |
| ```json |
| { |
| "codebase_version": "v3.0", |
| "fps": 30, |
| "features": { |
| "observation.images.top": { |
| "dtype": "video", |
| "shape": [ |
| 224, |
| 224, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 224, |
| "video.width": 224, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "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": {} |
| } |
| }, |
| "observation.images.left_wrist": { |
| "dtype": "video", |
| "shape": [ |
| 224, |
| 224, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 224, |
| "video.width": 224, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "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": {} |
| } |
| }, |
| "observation.images.right_wrist": { |
| "dtype": "video", |
| "shape": [ |
| 224, |
| 224, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 224, |
| "video.width": 224, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "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": {} |
| } |
| }, |
| "raw_state.left_joint_pos": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "joint_1", |
| "joint_2", |
| "joint_3", |
| "joint_4", |
| "joint_5", |
| "joint_6" |
| ] |
| }, |
| "raw_state.left_gripper_state": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "gripper" |
| ] |
| }, |
| "raw_state.right_joint_pos": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "joint_1", |
| "joint_2", |
| "joint_3", |
| "joint_4", |
| "joint_5", |
| "joint_6" |
| ] |
| }, |
| "raw_state.right_gripper_state": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "gripper" |
| ] |
| }, |
| "raw_target.left_joint_pos": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "joint_1", |
| "joint_2", |
| "joint_3", |
| "joint_4", |
| "joint_5", |
| "joint_6" |
| ] |
| }, |
| "raw_target.left_gripper_state": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "gripper" |
| ] |
| }, |
| "raw_target.right_joint_pos": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "joint_1", |
| "joint_2", |
| "joint_3", |
| "joint_4", |
| "joint_5", |
| "joint_6" |
| ] |
| }, |
| "raw_target.right_gripper_state": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "gripper" |
| ] |
| }, |
| "state.left_joint_pos": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "joint_1", |
| "joint_2", |
| "joint_3", |
| "joint_4", |
| "joint_5", |
| "joint_6" |
| ] |
| }, |
| "state.left_eef_xyz": { |
| "dtype": "float32", |
| "shape": [ |
| 3 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z" |
| ] |
| }, |
| "state.left_eef_rot9d": { |
| "dtype": "float32", |
| "shape": [ |
| 9 |
| ], |
| "names": [ |
| "r11", |
| "r12", |
| "r13", |
| "r21", |
| "r22", |
| "r23", |
| "r31", |
| "r32", |
| "r33" |
| ] |
| }, |
| "state.left_gripper_state": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "gripper" |
| ] |
| }, |
| "state.right_joint_pos": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "joint_1", |
| "joint_2", |
| "joint_3", |
| "joint_4", |
| "joint_5", |
| "joint_6" |
| ] |
| }, |
| "state.right_eef_xyz": { |
| "dtype": "float32", |
| "shape": [ |
| 3 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z" |
| ] |
| }, |
| "state.right_eef_rot9d": { |
| "dtype": "float32", |
| "shape": [ |
| 9 |
| ], |
| "names": [ |
| "r11", |
| "r12", |
| "r13", |
| "r21", |
| "r22", |
| "r23", |
| "r31", |
| "r32", |
| "r33" |
| ] |
| }, |
| "state.right_gripper_state": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "gripper" |
| ] |
| }, |
| "target.left_joint_pos": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "joint_1", |
| "joint_2", |
| "joint_3", |
| "joint_4", |
| "joint_5", |
| "joint_6" |
| ] |
| }, |
| "target.left_eef_xyz": { |
| "dtype": "float32", |
| "shape": [ |
| 3 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z" |
| ] |
| }, |
| "target.left_eef_rot9d": { |
| "dtype": "float32", |
| "shape": [ |
| 9 |
| ], |
| "names": [ |
| "r11", |
| "r12", |
| "r13", |
| "r21", |
| "r22", |
| "r23", |
| "r31", |
| "r32", |
| "r33" |
| ] |
| }, |
| "target.left_gripper_state": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "gripper" |
| ] |
| }, |
| "target.right_joint_pos": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "joint_1", |
| "joint_2", |
| "joint_3", |
| "joint_4", |
| "joint_5", |
| "joint_6" |
| ] |
| }, |
| "target.right_eef_xyz": { |
| "dtype": "float32", |
| "shape": [ |
| 3 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z" |
| ] |
| }, |
| "target.right_eef_rot9d": { |
| "dtype": "float32", |
| "shape": [ |
| 9 |
| ], |
| "names": [ |
| "r11", |
| "r12", |
| "r13", |
| "r21", |
| "r22", |
| "r23", |
| "r31", |
| "r32", |
| "r33" |
| ] |
| }, |
| "target.right_gripper_state": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "gripper" |
| ] |
| }, |
| "debug.left_gripper_eef_xyz": { |
| "dtype": "float32", |
| "shape": [ |
| 3 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z" |
| ] |
| }, |
| "debug.left_gripper_eef_rot6d": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "r11", |
| "r21", |
| "r31", |
| "r12", |
| "r22", |
| "r32" |
| ] |
| }, |
| "debug.right_gripper_eef_xyz": { |
| "dtype": "float32", |
| "shape": [ |
| 3 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z" |
| ] |
| }, |
| "debug.right_gripper_eef_rot6d": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "r11", |
| "r21", |
| "r31", |
| "r12", |
| "r22", |
| "r32" |
| ] |
| }, |
| "language_persistent": { |
| "dtype": "language", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "language_events": { |
| "dtype": "language", |
| "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": 129225, |
| "total_frames": 382468339, |
| "total_tasks": 201, |
| "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": "yam_bimanual", |
| "splits": { |
| "train": "0:129225" |
| } |
| } |
| ``` |
|
|
|
|
| ## Citation |
|
|
| **BibTeX:** |
|
|
| ```bibtex |
| [More Information Needed] |
| ``` |
