LSY-lab/stack_cake_v2_absolute_actions
This dataset was created using LeRobot. Dataset Structure meta/info.json: { "codebase_version": "v2.1", "robot_type": null, "total_episodes": 101, "total_frames": 23884, "total_tasks": 1, "total_videos": 303, "total_chunks": 1, "chunks_size": 1000, "fps": 15, "splits": { "train": "0:101" }, "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "video_path":… See the full description on the dataset page: https://huggingface.co/datasets/LSY-lab/stack_cake_v2_absolute_actions.
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1---2license: apache-2.03task_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:** [More Information Needed]19- **Paper:** [More Information Needed]20- **License:** apache-2.021 22## Dataset Structure23 24[meta/info.json](meta/info.json):25```json26{27 "codebase_version": "v2.1",28 "robot_type": null,29 "total_episodes": 101,30 "total_frames": 23884,31 "total_tasks": 1,32 "total_videos": 303,33 "total_chunks": 1,34 "chunks_size": 1000,35 "fps": 15,36 "splits": {37 "train": "0:101"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.images.primary": {43 "dtype": "video",44 "shape": [45 256,46 256,47 348 ],49 "names": [50 "height",51 "width",52 "channels"53 ],54 "video_info": {55 "video.fps": 30.0,56 "video.codec": "av1",57 "video.pix_fmt": "yuv420p",58 "video.is_depth_map": false,59 "has_audio": false60 },61 "info": {62 "video.height": 256,63 "video.width": 256,64 "video.codec": "av1",65 "video.pix_fmt": "yuv420p",66 "video.is_depth_map": false,67 "video.fps": 15,68 "video.channels": 3,69 "has_audio": false70 }71 },72 "observation.images.tactile": {73 "dtype": "video",74 "shape": [75 256,76 256,77 378 ],79 "names": [80 "height",81 "width",82 "channels"83 ],84 "video_info": {85 "video.fps": 30.0,86 "video.codec": "av1",87 "video.pix_fmt": "yuv420p",88 "video.is_depth_map": false,89 "has_audio": false90 },91 "info": {92 "video.height": 256,93 "video.width": 256,94 "video.codec": "av1",95 "video.pix_fmt": "yuv420p",96 "video.is_depth_map": false,97 "video.fps": 15,98 "video.channels": 3,99 "has_audio": false100 }101 },102 "observation.images.wrist": {103 "dtype": "video",104 "shape": [105 256,106 256,107 3108 ],109 "names": [110 "height",111 "width",112 "channels"113 ],114 "video_info": {115 "video.fps": 30.0,116 "video.codec": "av1",117 "video.pix_fmt": "yuv420p",118 "video.is_depth_map": false,119 "has_audio": false120 },121 "info": {122 "video.height": 256,123 "video.width": 256,124 "video.codec": "av1",125 "video.pix_fmt": "yuv420p",126 "video.is_depth_map": false,127 "video.fps": 15,128 "video.channels": 3,129 "has_audio": false130 }131 },132 "observation.state.cartesian": {133 "dtype": "float32",134 "shape": [135 6136 ],137 "names": [138 "x",139 "y",140 "z",141 "roll",142 "pitch",143 "yaw"144 ]145 },146 "observation.state.gripper": {147 "dtype": "float32",148 "shape": [149 1150 ],151 "names": [152 "gripper"153 ]154 },155 "observation.state.joints": {156 "dtype": "float32",157 "shape": [158 7159 ],160 "names": [161 "joint_0",162 "joint_1",163 "joint_2",164 "joint_3",165 "joint_4",166 "joint_5",167 "joint_6"168 ]169 },170 "observation.state.sensors_ft_sensor": {171 "dtype": "float32",172 "shape": [173 6174 ],175 "names": [176 "sensors_ft_sensor_0",177 "sensors_ft_sensor_1",178 "sensors_ft_sensor_2",179 "sensors_ft_sensor_3",180 "sensors_ft_sensor_4",181 "sensors_ft_sensor_5"182 ]183 },184 "observation.state.sensors_tactile_sensor": {185 "dtype": "float32",186 "shape": [187 15188 ],189 "names": [190 "sensors_tactile_sensor_0",191 "sensors_tactile_sensor_1",192 "sensors_tactile_sensor_2",193 "sensors_tactile_sensor_3",194 "sensors_tactile_sensor_4",195 "sensors_tactile_sensor_5",196 "sensors_tactile_sensor_6",197 "sensors_tactile_sensor_7",198 "sensors_tactile_sensor_8",199 "sensors_tactile_sensor_9",200 "sensors_tactile_sensor_10",201 "sensors_tactile_sensor_11",202 "sensors_tactile_sensor_12",203 "sensors_tactile_sensor_13",204 "sensors_tactile_sensor_14"205 ]206 },207 "observation.state.target": {208 "dtype": "float32",209 "shape": [210 6211 ],212 "names": [213 "target_x",214 "target_y",215 "target_z",216 "target_roll",217 "target_pitch",218 "target_yaw"219 ]220 },221 "observation.state": {222 "dtype": "float32",223 "shape": [224 41225 ],226 "names": [227 "x",228 "y",229 "z",230 "roll",231 "pitch",232 "yaw",233 "gripper",234 "joint_0",235 "joint_1",236 "joint_2",237 "joint_3",238 "joint_4",239 "joint_5",240 "joint_6",241 "sensors_ft_sensor_0",242 "sensors_ft_sensor_1",243 "sensors_ft_sensor_2",244 "sensors_ft_sensor_3",245 "sensors_ft_sensor_4",246 "sensors_ft_sensor_5",247 "sensors_tactile_sensor_0",248 "sensors_tactile_sensor_1",249 "sensors_tactile_sensor_2",250 "sensors_tactile_sensor_3",251 "sensors_tactile_sensor_4",252 "sensors_tactile_sensor_5",253 "sensors_tactile_sensor_6",254 "sensors_tactile_sensor_7",255 "sensors_tactile_sensor_8",256 "sensors_tactile_sensor_9",257 "sensors_tactile_sensor_10",258 "sensors_tactile_sensor_11",259 "sensors_tactile_sensor_12",260 "sensors_tactile_sensor_13",261 "sensors_tactile_sensor_14",262 "target_x",263 "target_y",264 "target_z",265 "target_roll",266 "target_pitch",267 "target_yaw"268 ]269 },270 "action": {271 "dtype": "float32",272 "shape": [273 7274 ],275 "names": [276 "x",277 "y",278 "z",279 "roll",280 "pitch",281 "yaw",282 "gripper"283 ]284 },285 "timestamp": {286 "dtype": "float32",287 "shape": [288 1289 ],290 "names": null291 },292 "frame_index": {293 "dtype": "int64",294 "shape": [295 1296 ],297 "names": null298 },299 "episode_index": {300 "dtype": "int64",301 "shape": [302 1303 ],304 "names": null305 },306 "index": {307 "dtype": "int64",308 "shape": [309 1310 ],311 "names": null312 },313 "task_index": {314 "dtype": "int64",315 "shape": [316 1317 ],318 "names": null319 }320 }321}322```323 324 325## Citation326 327**BibTeX:**328 329```bibtex330[More Information Needed]331```