Datasetpublic

aadarshram/metaworld_mt10

This dataset was created using LeRobot. Dataset Description NOTE: All expert trajectories (100% success rate) 50 total episodes Camera view: 3rd-person Corner2 only out of ["corner", "corner2", "corner3", "topview", "behindGripper"] Generator script can be found here: https://github.com/aadarshram/lerobot/blob/MultiTask/src/lerobot/scripts/generate_MetaWorld_datasets.py Homepage: [More Information Needed] Paper: [More Information Needed] License: apache-2.0… See the full description on the dataset page: https://huggingface.co/datasets/aadarshram/metaworld_mt10.

sourceHugging Faceapache-2.0updated 9mo agoView on Hugging Face

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Dataset Card

This dataset was created using LeRobot.

Dataset Description

NOTE:

—All expert trajectories (100% success rate)
—50 total episodes
—Camera view: 3rd-person Corner2 only out of ["corner", "corner2", "corner3", "topview", "behindGripper"]
—Generator script can be found here: https://github.com/aadarshram/lerobot/blob/MultiTask/src/lerobot/scripts/generateMetaWorlddatasets.py

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

Dataset Structure

meta/info.json:

json

{
    "codebase_version": "v3.0",
    "robot_type": "metaworld",
    "total_episodes": 500,
    "total_frames": 37969,
    "total_tasks": 10,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 80,
    "splits": {
        "train": "0:500"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": null,
    "features": {
        "observation.image": {
            "dtype": "image",
            "shape": [
                480,
                480,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                4
            ],
            "names": {
                "axes": [
                    "x",
                    "y",
                    "z",
                    "gripper"
                ]
            }
        },
        "observation.environment_state": {
            "dtype": "float32",
            "shape": [
                39
            ],
            "names": [
                "keypoints"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                4
            ],
            "names": {
                "axes": [
                    "x",
                    "y",
                    "z",
                    "gripper"
                ]
            }
        },
        "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]