yananchen/robocasa_lerobot

This dataset was created using LeRobot.

Dataset Structure

Originally comes from https://robocasa.ai/docs/build/html/datasets/datasets_overview.html

the script to build this dataset : https://github.com/yanan1116/flow_matching/blob/master/examples/push_lerobot.py#L171

this dataset includes

• Atomic: such as pick and place, open door, open drawer, turn faucet, navigate to kitchen, turn microwave ...
• Composite : such as waffle reheat, transfer pan, make ice lemon, select a croissant and place it on the cutting board ...

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "panda",
    "total_episodes": 1651,
    "total_frames": 577597,
    "total_tasks": 30,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 10,
    "splits": {
        "train": "0:1651"
    },
    "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",
    "features": {
        "image": {
            "dtype": "image",
            "shape": [
                128,
                128,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "wrist_image": {
            "dtype": "image",
            "shape": [
                128,
                128,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "state": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": [
                "state"
            ]
        },
        "actions": {
            "dtype": "float32",
            "shape": [
                12
            ],
            "names": [
                "actions"
            ]
        },
        "instruction": {
            "dtype": "string",
            "shape": [
                1
            ],
            "names": [
                "instruction"
            ]
        },
        "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
        }
    }
}

Citation

BibTeX:

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