metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- LeRobot
- bc_z
- rlds
- openx
- google_robot
configs:
- config_name: default
data_files: data/*/*.parquet
This dataset was created using LeRobot.
Dataset Description
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "google_robot",
"total_episodes": 39350,
"total_frames": 5471693,
"total_tasks": 104,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:39350"
},
"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.images.image": {
"dtype": "video",
"shape": [
640,
512,
3
],
"names": [
"height",
"width",
"rgb"
],
"info": {
"video.height": 640,
"video.width": 512,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"raw_state.eef_xyz": {
"dtype": "float32",
"shape": [
3
],
"names": [
"x",
"y",
"z"
]
},
"raw_state.eef_axis_angle": {
"dtype": "float32",
"shape": [
3
],
"names": [
"axis_angle_x",
"axis_angle_y",
"axis_angle_z"
]
},
"raw_state.gripper_state": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper"
]
},
"raw_target.eef_xyz": {
"dtype": "float32",
"shape": [
3
],
"names": [
"x",
"y",
"z"
]
},
"raw_target.eef_axis_angle": {
"dtype": "float32",
"shape": [
3
],
"names": [
"axis_angle_x",
"axis_angle_y",
"axis_angle_z"
]
},
"raw_target.gripper_state": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper"
]
},
"state.eef_xyz": {
"dtype": "float32",
"shape": [
3
],
"names": [
"x",
"y",
"z"
]
},
"state.eef_rot9d": {
"dtype": "float32",
"shape": [
9
],
"names": [
"r11",
"r12",
"r13",
"r21",
"r22",
"r23",
"r31",
"r32",
"r33"
]
},
"state.gripper_state": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper"
]
},
"target.eef_xyz": {
"dtype": "float32",
"shape": [
3
],
"names": [
"x",
"y",
"z"
]
},
"target.eef_rot9d": {
"dtype": "float32",
"shape": [
9
],
"names": [
"r11",
"r12",
"r13",
"r21",
"r22",
"r23",
"r31",
"r32",
"r33"
]
},
"target.gripper_state": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper"
]
},
"debug.gripper_eef_xyz": {
"dtype": "float32",
"shape": [
3
],
"names": [
"x",
"y",
"z"
]
},
"debug.gripper_eef_rot6d": {
"dtype": "float32",
"shape": [
6
],
"names": [
"r11",
"r21",
"r31",
"r12",
"r22",
"r32"
]
},
"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]