CoolFace
Datasetpublic

ishika/robocasa_gr1_tabletop_tasks

This dataset was created using LeRobot. Dataset Structure meta/info.json: { "codebase_version": "v2.1", "robot_type": "robomimic", "total_episodes": 2235, "total_frames": 552031, "total_tasks": 20, "total_videos": 2235, "total_chunks": 3, "chunks_size": 1000, "fps": 20, "splits": { "train": "0:1877", "test": "1877:2235" }, "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/ishika/robocasa_gr1_tabletop_tasks.

sourceHugging Faceapache-2.0updated 1y agoView on Hugging Face
0likes177downloads
Dataset Card

This dataset was created using LeRobot.

Dataset Description

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

Dataset Structure

meta/info.json:

json
{
    "codebase_version": "v2.1",
    "robot_type": "robomimic",
    "total_episodes": 2235,
    "total_frames": 552031,
    "total_tasks": 20,
    "total_videos": 2235,
    "total_chunks": 3,
    "chunks_size": 1000,
    "fps": 20,
    "splits": {
        "train": "0:1877",
        "test": "1877:2235"
    },
    "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": {
        "action": {
            "dtype": "float32",
            "shape": [
                24
            ],
            "names": [
                "action_0",
                "action_1",
                "action_2",
                "action_3",
                "action_4",
                "action_5",
                "action_6",
                "action_7",
                "action_8",
                "action_9",
                "action_10",
                "action_11",
                "action_12",
                "action_13",
                "action_14",
                "action_15",
                "action_16",
                "action_17",
                "action_18",
                "action_19",
                "action_20",
                "action_21",
                "action_22",
                "action_23"
            ]
        },
        "next.done": {
            "dtype": "bool",
            "shape": [
                1
            ],
            "names": [
                "done"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                43
            ],
            "names": [
                "robot0_right_eef_pos",
                "robot0_right_eef_quat",
                "robot0_right_gripper_qpos",
                "robot0_left_eef_pos",
                "robot0_left_eef_quat",
                "robot0_left_gripper_qpos",
                "robot0_base_pos",
                "robot0_base_quat"
            ]
        },
        "observation.condition": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                "right_abs_pos_gr1_contact_condition",
                "right_abs_rot_gr1_contact_condition",
                "left_abs_pos_gr1_contact_condition",
                "left_abs_rot_gr1_contact_condition"
            ]
        },
        "observation.images.egoview": {
            "dtype": "video",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 256,
                "video.width": 256,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "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
[More Information Needed]