Datasetpublic

justintiensmith/Ordering_Constrained_Black_Bin_Sequencing

This dataset was created using LeRobot. Dataset Description This is a sequencing-prompt variant of justintiensmith/Ordering_Constrained_Black_Bin. The observations, actions, episode ordering, and videos are unchanged. Only the task prompts and their task indices have been rewritten. The black bin is to the left of the four-item sequence. The dataset uses five paraphrases for each of these relations: first from the left, second from the left, second from the right, and… See the full description on the dataset page: https://huggingface.co/datasets/justintiensmith/Ordering_Constrained_Black_Bin_Sequencing.

sourceHugging Faceapache-2.0updated 2mo agoView on Hugging Face

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Dataset Card

This dataset was created using LeRobot.

Dataset Description

This is a sequencing-prompt variant of `justintiensmith/Ordering_Constrained_Black_Bin`. The observations, actions, episode ordering, and videos are unchanged. Only the task prompts and their task indices have been rewritten.

The black bin is to the left of the four-item sequence. The dataset uses five paraphrases for each of these relations: first from the left, second from the left, second from the right, and first from the right. Every paraphrase is assigned to five episodes in a round-robin pattern within its 25-episode relation group. Episodes 50–74 were converted from third-from-left to the equivalent second-from-right relation, and episodes 75–99 from fourth-from-left to the equivalent first-from-right relation. This holds out explicit third-from-left, fourth-from-left, third-from-right, and fourth-from-right relation prompts.

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

Dataset Structure

meta/info.json:

json

{
    "codebase_version": "v3.0",
    "fps": 30,
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "is_depth_map": false,
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 30,
                "video.crf": 30,
                "video.preset": null,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {
                    "bf": 0
                }
            }
        },
        "observation.images.middle": {
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            "shape": [
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                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "is_depth_map": false,
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.fps": 30,
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                "has_audio": false,
                "video.g": 30,
                "video.crf": 30,
                "video.preset": null,
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                "video.extra_options": {
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        },
        "timestamp": {
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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            "names": null
        },
        "task_index": {
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            "names": null
        }
    },
    "total_episodes": 100,
    "total_frames": 53858,
    "total_tasks": 20,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "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",
    "robot_type": "so_follower",
    "splits": {
        "train": "0:100"
    }
}

Citation

BibTeX:

bibtex

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