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README.md
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| 1 |
+
---
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| 2 |
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license: apache-2.0
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task_categories:
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- robotics
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tags:
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- LeRobot
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- so101
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- pick-place
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- fork
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- manipulation
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configs:
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- config_name: default
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data_files: data/*/*.parquet
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---
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This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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## Dataset Description
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- **Homepage:** [More Information Needed]
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- **Paper:** [More Information Needed]
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- **License:** apache-2.0
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## Dataset Structure
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[meta/info.json](meta/info.json):
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```json
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{
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"codebase_version": "v2.1",
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"robot_type": "so101_follower",
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"total_episodes": 100,
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"total_frames": 30809,
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"total_tasks": 1,
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"total_videos": 202,
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"total_chunks": 1,
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"chunks_size": 1000,
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"fps": 30,
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"splits": {
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"train": [
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0,
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]
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},
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| 144 |
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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| 145 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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| 146 |
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"features": {
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"action": {
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"dtype": "float32",
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| 149 |
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"shape": [
|
| 150 |
+
6
|
| 151 |
+
],
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| 152 |
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"names": [
|
| 153 |
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"shoulder_pan.pos",
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| 154 |
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"shoulder_lift.pos",
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| 155 |
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"elbow_flex.pos",
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| 156 |
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"wrist_flex.pos",
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| 157 |
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"wrist_roll.pos",
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| 158 |
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"gripper.pos"
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| 159 |
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]
|
| 160 |
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},
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| 161 |
+
"observation.state": {
|
| 162 |
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"dtype": "float32",
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| 163 |
+
"shape": [
|
| 164 |
+
6
|
| 165 |
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],
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| 166 |
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"names": [
|
| 167 |
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"shoulder_pan.pos",
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| 168 |
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"shoulder_lift.pos",
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| 169 |
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"elbow_flex.pos",
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| 170 |
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"wrist_flex.pos",
|
| 171 |
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"wrist_roll.pos",
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| 172 |
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"gripper.pos"
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| 173 |
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]
|
| 174 |
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},
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| 175 |
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"observation.images.wrist": {
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| 176 |
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"dtype": "video",
|
| 177 |
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"shape": [
|
| 178 |
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480,
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| 179 |
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640,
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| 180 |
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3
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| 181 |
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],
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| 182 |
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"names": [
|
| 183 |
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"height",
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| 184 |
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"width",
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| 185 |
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"channels"
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| 186 |
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],
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| 187 |
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"info": {
|
| 188 |
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"video.height": 480,
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| 189 |
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"video.width": 640,
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| 190 |
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"video.codec": "av1",
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| 191 |
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"video.pix_fmt": "yuv420p",
|
| 192 |
+
"video.is_depth_map": false,
|
| 193 |
+
"video.fps": 30,
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| 194 |
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"video.channels": 3,
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| 195 |
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"has_audio": false
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| 196 |
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}
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| 197 |
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},
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| 198 |
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"observation.images.front": {
|
| 199 |
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"dtype": "video",
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| 200 |
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"shape": [
|
| 201 |
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480,
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| 202 |
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640,
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3
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| 204 |
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],
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| 205 |
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"names": [
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| 206 |
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"height",
|
| 207 |
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"width",
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| 208 |
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"channels"
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| 209 |
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],
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| 210 |
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"info": {
|
| 211 |
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"video.height": 480,
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| 212 |
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"video.width": 640,
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| 213 |
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"video.codec": "av1",
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| 214 |
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"video.pix_fmt": "yuv420p",
|
| 215 |
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"video.is_depth_map": false,
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| 216 |
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"video.fps": 30,
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| 217 |
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"video.channels": 3,
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| 218 |
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"has_audio": false
|
| 219 |
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}
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| 220 |
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},
|
| 221 |
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"timestamp": {
|
| 222 |
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"dtype": "float32",
|
| 223 |
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"shape": [
|
| 224 |
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1
|
| 225 |
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],
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| 226 |
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"names": null
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| 227 |
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},
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| 228 |
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"frame_index": {
|
| 229 |
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"dtype": "int64",
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| 230 |
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"shape": [
|
| 231 |
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1
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| 232 |
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],
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| 233 |
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"names": null
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| 234 |
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},
|
| 235 |
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"episode_index": {
|
| 236 |
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"dtype": "int64",
|
| 237 |
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"shape": [
|
| 238 |
+
1
|
| 239 |
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],
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| 240 |
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"names": null
|
| 241 |
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},
|
| 242 |
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"index": {
|
| 243 |
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"dtype": "int64",
|
| 244 |
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"shape": [
|
| 245 |
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1
|
| 246 |
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],
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| 247 |
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"names": null
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| 248 |
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},
|
| 249 |
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"task_index": {
|
| 250 |
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"dtype": "int64",
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| 251 |
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"shape": [
|
| 252 |
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1
|
| 253 |
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],
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| 254 |
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"names": null
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| 255 |
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}
|
| 256 |
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}
|
| 257 |
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}
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| 258 |
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```
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| 259 |
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| 260 |
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| 261 |
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## Citation
|
| 262 |
+
|
| 263 |
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**BibTeX:**
|
| 264 |
+
|
| 265 |
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```bibtex
|
| 266 |
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[More Information Needed]
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| 267 |
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```
|