Datasetpublic

lerobot/taco_play

This dataset was created using LeRobot. Dataset Structure meta/info.json: { "codebase_version": "v2.0", "robot_type": "unknown", "total_episodes": 3603, "total_frames": 237798, "total_tasks": 406, "total_videos": 7206, "total_chunks": 4, "chunks_size": 1000, "fps": 15, "splits": { "train": "0:3603" }, "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/lerobot/taco_play.

sourceHugging Facecc-by-4.0updated 1y agoView on Hugging Face

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Dataset Card

This dataset was created using LeRobot.

Dataset Description

—Homepage: https://www.kaggle.com/datasets/oiermees/taco-robot
—Paper: https://arxiv.org/abs/2209.08959, https://arxiv.org/abs/2210.01911
—License: cc-by-4.0

Dataset Structure

meta/info.json:

json

{
    "codebase_version": "v2.0",
    "robot_type": "unknown",
    "total_episodes": 3603,
    "total_frames": 237798,
    "total_tasks": 406,
    "total_videos": 7206,
    "total_chunks": 4,
    "chunks_size": 1000,
    "fps": 15,
    "splits": {
        "train": "0:3603"
    },
    "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.images.rgb_static": {
            "dtype": "video",
            "shape": [
                150,
                200,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "video_info": {
                "video.fps": 15.0,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.rgb_gripper": {
            "dtype": "video",
            "shape": [
                84,
                84,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "video_info": {
                "video.fps": 15.0,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "language_instruction": {
            "dtype": "string",
            "shape": [
                1
            ],
            "names": null
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": {
                "motors": [
                    "motor_0",
                    "motor_1",
                    "motor_2",
                    "motor_3",
                    "motor_4",
                    "motor_5",
                    "motor_6"
                ]
            }
        },
        "action": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": {
                "motors": [
                    "motor_0",
                    "motor_1",
                    "motor_2",
                    "motor_3",
                    "motor_4",
                    "motor_5",
                    "motor_6"
                ]
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "next.reward": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "next.done": {
            "dtype": "bool",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

bibtex

@inproceedings{rosete2022tacorl,
    author = {Erick Rosete-Beas and Oier Mees and Gabriel Kalweit and Joschka Boedecker and Wolfram Burgard},
    title = {Latent Plans for Task Agnostic Offline Reinforcement Learning},
    journal = {Proceedings of the 6th Conference on Robot Learning (CoRL)},
    year = {2022}
}
@inproceedings{mees23hulc2,
    title={Grounding  Language  with  Visual  Affordances  over  Unstructured  Data},
    author={Oier Mees and Jessica Borja-Diaz and Wolfram Burgard},
    booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
    year={2023},
    address = {London, UK}
}