This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "rlbench_panda",
"total_episodes": 1200,
"total_frames": 155851,
"total_tasks": 10,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:1000",
"test": "1000:1200"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": null,
"features": {
"observation.images.front": {
"dtype": "image",
"shape": [
128,
128,
3
],
"names": [
"height",
"width",
"channels"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
8
],
"names": {
"axes": [
"joint_position_0",
"joint_position_1",
"joint_position_2",
"joint_position_3",
"joint_position_4",
"joint_position_5",
"joint_position_6",
"gripper_open"
]
}
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": {
"axes": [
"delta_x",
"delta_y",
"delta_z",
"delta_rx",
"delta_ry",
"delta_rz",
"gripper"
]
}
},
"language_instruction": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"task_name": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"source_episode_id": {
"dtype": "string",
"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
- 56