caspar/omy_pnp_language

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "omy",
    "total_episodes": 20,
    "total_frames": 2621,
    "total_tasks": 2,
    "chunks_size": 1000,
    "fps": 20,
    "splits": {
        "train": "0:20"
    },
    "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.image": {
            "dtype": "image",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "fps": 20
        },
        "observation.wrist_image": {
            "dtype": "image",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "fps": 20
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "state"
            ],
            "fps": 20
        },
        "action": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "action"
            ],
            "fps": 20
        },
        "obj_init": {
            "dtype": "float32",
            "shape": [
                9
            ],
            "names": [
                "obj_init"
            ],
            "fps": 20
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 20
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 20
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 20
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 20
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 20
        }
    },
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200
}

Citation

BibTeX:

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