Datasets:
metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- libero
- panda
- libero_10
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": "panda",
"total_episodes": 1569,
"total_frames": 500957,
"total_tasks": 382,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 20,
"splits": {
"train": "0:1569"
},
"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": {
"image": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"wrist_image": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"state": {
"dtype": "float64",
"shape": [
8
],
"names": [
"state"
]
},
"action": {
"dtype": "float64",
"shape": [
7
],
"names": [
"action"
]
},
"is_first": {
"dtype": "bool",
"shape": [
1
],
"names": [
"is_first"
]
},
"is_last": {
"dtype": "bool",
"shape": [
1
],
"names": [
"is_last"
]
},
"is_terminal": {
"dtype": "bool",
"shape": [
1
],
"names": [
"is_terminal"
]
},
"is_episode_successful": {
"dtype": "bool",
"shape": [
1
],
"names": [
"is_episode_successful"
]
},
"prompt": {
"dtype": "string",
"shape": [
1
],
"names": [
"prompt"
]
},
"language_variation": {
"dtype": "int32",
"shape": [
1
],
"names": [
"language_variation"
]
},
"view_type": {
"dtype": "string",
"shape": [
1
],
"names": [
"view_type"
]
},
"initstate_type": {
"dtype": "int32",
"shape": [
1
],
"names": [
"initstate_type"
]
},
"object_adding_type": {
"dtype": "int32",
"shape": [
1
],
"names": [
"object_adding_type"
]
},
"light_type": {
"dtype": "int32",
"shape": [
1
],
"names": [
"light_type"
]
},
"table_type": {
"dtype": "int32",
"shape": [
1
],
"names": [
"table_type"
]
},
"tb_type": {
"dtype": "int32",
"shape": [
1
],
"names": [
"tb_type"
]
},
"noise_type": {
"dtype": "int32",
"shape": [
1
],
"names": [
"noise_type"
]
},
"sample_type": {
"dtype": "int32",
"shape": [
1
],
"names": [
"sample_type"
]
},
"level_type": {
"dtype": "int32",
"shape": [
1
],
"names": [
"level_type"
]
},
"original_task_description": {
"dtype": "string",
"shape": [
1
],
"names": [
"original_task_description"
]
},
"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]