Datasets:
1 episodes · 30 fps · 3 cameras · 1280×480 av1
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "humanoid",
"total_episodes": 1,
"total_frames": 17265,
"total_tasks": 12,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:1"
},
"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": {
"observation.images.head": {
"dtype": "video",
"shape": [
480,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 1280,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.state.pivot_vx": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"observation.state.pivot_vy": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"observation.state.pivot_vyaw": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"observation.state.pivot_roll": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"observation.state.pivot_pitch": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"observation.state.pivot_yaw": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"observation.state.pivot_height": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"observation.state.left_ee_x": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"observation.state.left_ee_y": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"observation.state.left_ee_z": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"observation.state.left_ee_roll": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"observation.state.left_ee_pitch": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"observation.state.left_ee_yaw": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"observation.state.right_ee_x": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"observation.state.right_ee_y": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"observation.state.right_ee_z": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"observation.state.right_ee_roll": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"observation.state.right_ee_pitch": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"observation.state.right_ee_yaw": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"observation.state.left_trigger": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"observation.state.left_squeeze": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"observation.state.right_trigger": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"observation.state.right_squeeze": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"action.pivot_vx": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"action.pivot_vy": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"action.pivot_vyaw": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"action.pivot_roll": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"action.pivot_pitch": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"action.pivot_yaw": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"action.pivot_height": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"action.left_ee_x": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"action.left_ee_y": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"action.left_ee_z": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"action.left_ee_roll": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"action.left_ee_pitch": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"action.left_ee_yaw": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"action.right_ee_x": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"action.right_ee_y": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"action.right_ee_z": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"action.right_ee_roll": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"action.right_ee_pitch": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"action.right_ee_yaw": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"action.left_trigger": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"action.left_squeeze": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"action.right_trigger": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"action.right_squeeze": {
"dtype": "float32",
"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
}
}
}
Citation
BibTeX:
[More Information Needed]
- Downloads last month
- 28