Beable/pushtModel-Collected-fixed

1---2license: mit3task_categories:4- robotics5tags:6- LeRobot7configs:8- config_name: default9  data_files: data/*/*.parquet10---11 12This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).13 14## Dataset Description15 16 17 18- **Homepage:** https://diffusion-policy.cs.columbia.edu/19- **Paper:** https://arxiv.org/abs/2303.04137v520- **License:** mit21 22## Dataset Structure23 24[meta/info.json](meta/info.json):25```json26{27    "codebase_version": "v2.0",28    "robot_type": "unknown",29    "total_episodes": 206,30    "total_frames": 25650,31    "total_tasks": 1,32    "total_videos": 206,33    "total_chunks": 1,34    "chunks_size": 1000,35    "fps": 10,36    "splits": {37        "train": "0:206"38    },39    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",40    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",41    "features": {42        "observation.image": {43            "dtype": "video",44            "shape": [45                96,46                96,47                348            ],49            "names": [50                "height",51                "width",52                "channel"53            ],54            "video_info": {55                "video.fps": 10.0,56                "video.codec": "av1",57                "video.pix_fmt": "yuv420p",58                "video.is_depth_map": false,59                "has_audio": false60            }61        },62        "observation.state": {63            "dtype": "float32",64            "shape": [65                266            ],67            "names": {68                "motors": [69                    "motor_0",70                    "motor_1"71                ]72            }73        },74        "action": {75            "dtype": "float32",76            "shape": [77                278            ],79            "names": {80                "motors": [81                    "motor_0",82                    "motor_1"83                ]84            }85        },86        "episode_index": {87            "dtype": "int64",88            "shape": [89                190            ],91            "names": null92        },93        "frame_index": {94            "dtype": "int64",95            "shape": [96                197            ],98            "names": null99        },100        "timestamp": {101            "dtype": "float32",102            "shape": [103                1104            ],105            "names": null106        },107        "next.reward": {108            "dtype": "float32",109            "shape": [110                1111            ],112            "names": null113        },114        "next.done": {115            "dtype": "bool",116            "shape": [117                1118            ],119            "names": null120        },121        "next.success": {122            "dtype": "bool",123            "shape": [124                1125            ],126            "names": null127        },128        "index": {129            "dtype": "int64",130            "shape": [131                1132            ],133            "names": null134        },135        "task_index": {136            "dtype": "int64",137            "shape": [138                1139            ],140            "names": null141        }142    }143}144```145 146 147## Citation148 149**BibTeX:**150 151```bibtex152@article{chi2024diffusionpolicy,153    author = {Cheng Chi and Zhenjia Xu and Siyuan Feng and Eric Cousineau and Yilun Du and Benjamin Burchfiel and Russ Tedrake and Shuran Song},154    title ={Diffusion Policy: Visuomotor Policy Learning via Action Diffusion},155    journal = {The International Journal of Robotics Research},156    year = {2024},157}158```