Datasetpublic

HuggingFaceVLA/metaworld_mt50

This dataset was created using LeRobot. Dataset Description This dataset contains 50 demonstrations per task from the Meta-world simulation benchmarks. Demonstrations are generated using expert policies. Meta-world: https://arxiv.org/abs/1910.10897 We reposition the camera and flip the rendered images as follow: Homepage: [More Information Needed] Paper: [More Information Needed] License: apache-2.0 Dataset Structure meta/info.json: { "codebase_version":… See the full description on the dataset page: https://huggingface.co/datasets/HuggingFaceVLA/metaworld_mt50.

sourceHugging Faceapache-2.0updated 1y agoView on Hugging Face

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Dataset Card

This dataset was created using LeRobot.

Dataset Description

This dataset contains 50 demonstrations per task from the Meta-world simulation benchmarks. Demonstrations are generated using expert policies. Meta-world: https://arxiv.org/abs/1910.10897

We reposition the camera and flip the rendered images as follow:

env.model.cam_pos[2] = [0.75, 0.075, 0.7]

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

Dataset Structure

meta/info.json:

json

{
    "codebase_version": "v2.0",
    "robot_type": "metaworld",
    "total_episodes": 2500,
    "total_frames": 204806,
    "total_tasks": 49,
    "total_videos": 0,
    "total_chunks": 3,
    "chunks_size": 1000,
    "fps": 80,
    "splits": {
        "train": "0:2500"
    },
    "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": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                4
            ],
            "names": {
                "axes": null
            }
        },
        "action": {
            "dtype": "float32",
            "shape": [
                4
            ],
            "names": {
                "axes": [
                    "x",
                    "y",
                    "z",
                    "gripper"
                ]
            }
        },
        "next.reward": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "next.success": {
            "dtype": "bool",
            "shape": [
                1
            ],
            "names": null
        },
        "observation.environment_state": {
            "dtype": "float32",
            "shape": [
                39
            ],
            "names": [
                "keypoints"
            ]
        },
        "observation.image": {
            "dtype": "image",
            "shape": [
                3,
                480,
                480
            ],
            "names": [
                "channels",
                "height",
                "width"
            ]
        },
        "task_id": {
            "dtype": "int16",
            "shape": [
                1
            ],
            "names": null
        },
        "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

[More Information Needed]