elijahgalahad/libero_spatial_noops_v30

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "franka",
    "total_episodes": 436,
    "total_frames": 53455,
    "total_tasks": 10,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 20,
    "splits": {
        "train": "0:436"
    },
    "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": {
        "images.cam_front": {
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            "shape": [
                256,
                256,
                3
            ],
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                "width",
                "rgb"
            ],
            "info": {
                "video.height": 256,
                "video.width": 256,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
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        },
        "images.cam_wrist": {
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            "info": {
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                "video.width": 256,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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                "video.fps": 20,
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        },
        "arm_state_cart_pos": {
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        },
        "arm_state_cart_rot": {
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                    "axis_angle2",
                    "axis_angle3"
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        },
        "arm_state_joint_pos": {
            "dtype": "float32",
            "shape": [
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            ],
            "names": {
                "joints": [
                    "joint_0",
                    "joint_1",
                    "joint_2",
                    "joint_3",
                    "joint_4",
                    "joint_5",
                    "joint_6"
                ]
            }
        },
        "gripper_state_qpos": {
            "dtype": "float32",
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            ],
            "names": {
                "finger": [
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                    "right"
                ]
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        },
        "arm_cmd_cart_pos": {
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                    "z"
                ]
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        },
        "arm_cmd_cart_rot": {
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            "names": {
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                    "axis_angle2",
                    "axis_angle3"
                ]
            }
        },
        "gripper_cmd_action": {
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            "names": {
                "scalar": [
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        },
        "actions": {
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            "names": {
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                    "delta_y",
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        "actions_orig": {
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        },
        "timestamp": {
            "dtype": "float32",
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                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
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            "names": null
        }
    }
}

Citation

BibTeX:

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