Datasetpublic

CSCSXX/Franka_blocks_ranking_rgb_106_trajs_260426

This dataset was created using LeRobot. Dataset Description Converted from raw Franka recordings into LeRobot v3.0 format. Summary Field Value Repo ID CSCSXX/Franka_blocks_ranking_rgb_106_trajs_260426 Robot franka Target FPS 10 Episodes 106 Frames 62497 Tasks Set the red block, the green block, and the blue block side by side in the order of red, green, then blue. Convert Config .\configs\PKU_2613\convert_blocks_ranking_rgb.yaml Raw… See the full description on the dataset page: https://huggingface.co/datasets/CSCSXX/Franka_blocks_ranking_rgb_106_trajs_260426.

sourceHugging Faceupdated 5mo agoView on Hugging Face

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Dataset Card

This dataset was created using LeRobot.

Dataset Description

Converted from raw Franka recordings into LeRobot v3.0 format.

Summary

Field	Value
Repo ID	`CSCSXX/Franka_blocks_ranking_rgb_106_trajs_260426`
Robot	`franka`
Target FPS	`10`
Episodes	106
Frames	62497
Tasks	`Set the red block, the green block, and the blue block side by side in the order of red, green, then blue.`
Convert Config	`.\configs\PKU_2613\convert_blocks_ranking_rgb.yaml`
Raw Data Dir	`data\20260426\blocks_ranking_rgb`

Observation And Action Layout

Feature	Shape	Description
`observation.state`	`8`	`joint_pos`<br>`gripper_width`
`action`	`8`	`joint_position` next-step target + gripper

Action Component	Definition
Arm action	`joint_pos[t+1]`
Gripper action	`discrete` (`>= 0.064` -> 1, `< 0.064` -> 0)
State gripper	`gripper_width` continuous

Cameras

Camera	Output Shape	Crop	Resize
`camera_front`	`224x224x3`	`top=0, bottom=0, left=0, right=0`	`224x224`
`camera_wrist`	`224x224x3`	`top=0, bottom=0, left=280, right=0`	`224x224`

Resampling

Stream	Alignment
`robot_state/*`	nearest timestamp
`camera/*`	nearest timestamp
`gripper_width`	linear interpolation

—Homepage: [More Information Needed]
—Paper: [More Information Needed]
—License: [More Information Needed]

Dataset Structure

meta/info.json:

json

{
    "codebase_version": "v3.0",
    "robot_type": "franka",
    "total_episodes": 106,
    "total_frames": 62497,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 10,
    "splits": {
        "train": "0:106"
    },
    "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.state": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": null
        },
        "action": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": null
        },
        "observation.images.camera_front": {
            "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": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.camera_wrist": {
            "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": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "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:

bibtex

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