ywxia/fold_old_gt

This dataset was created using LeRobot.

Dataset Description

Data Distribution Overview

This figure summarizes the data distribution of the ywxia/fold_old_gt dataset, auto-generated after each conversion via analysis/postprocess_with_overview.py. It shows episode-length distribution, the 3-D EEF workspace, per-dimension state histograms, per-arm action magnitudes, and a sample of frames from each camera.

Task: fold the box on the desk

Episodes: 274 | Frames: 36231 | FPS: 15 | Robot: custom_eef

Gripper Data Distribution

Raw exported action-space gripper channels:

Arm	Action dim	Mean	Std	Min	Max	Median	P99	Exact zero
left	6	1.0000	0.0000	1.0000	1.0000	1.0000	1.0000	0.0%
right	13	1.0000	0.0000	1.0000	1.0000	1.0000	1.0000	0.0%

These numbers are computed from the raw dataset action channels before any ACT delta or rot6d transforms.

• Homepage: [More Information Needed]
• Paper: [More Information Needed]
• License: apache-2.0

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "custom_eef",
    "total_episodes": 274,
    "total_frames": 36231,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 15,
    "splits": {
        "train": "0:274"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "left_wrist_cam_0": {
            "dtype": "image",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "left_wrist_cam_1": {
            "dtype": "image",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "right_wrist_cam_0": {
            "dtype": "image",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "right_wrist_cam_1": {
            "dtype": "image",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "state": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "state"
            ]
        },
        "eef_state": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                "eef_state"
            ]
        },
        "actions": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                "actions"
            ]
        },
        "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]