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This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"fps": 20,
"features": {
"observation.images.agentview": {
"dtype": "video",
"shape": [
84,
84,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 84,
"video.width": 84,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.wrist": {
"dtype": "video",
"shape": [
84,
84,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 84,
"video.width": 84,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"observation.state": {
"dtype": "float32",
"shape": [
32
],
"names": [
"s0",
"s1",
"s2",
"s3",
"s4",
"s5",
"s6",
"s7",
"s8",
"s9",
"s10",
"s11",
"s12",
"s13",
"s14",
"s15",
"s16",
"s17",
"s18",
"s19",
"s20",
"s21",
"s22",
"s23",
"s24",
"s25",
"s26",
"s27",
"s28",
"s29",
"s30",
"s31"
]
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"a0",
"a1",
"a2",
"a3",
"a4",
"a5",
"a6"
]
},
"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": 5400,
"total_frames": 810000,
"total_tasks": 2,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 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",
"robot_type": null,
"splits": {
"train": "0:5400"
}
}
Citation
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