This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "xarm6",
"total_episodes": 20,
"total_frames": 5601,
"total_tasks": 20,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:20"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": null,
"features": {
"observation.images.cam_left_rgb": {
"dtype": "image",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
]
},
"observation.images.cam_right_rgb": {
"dtype": "image",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
22
],
"names": [
"state_0",
"state_1",
"state_2",
"state_3",
"state_4",
"state_5",
"state_6",
"state_7",
"state_8",
"state_9",
"state_10",
"state_11",
"state_12",
"state_13",
"state_14",
"state_15",
"state_16",
"state_17",
"state_18",
"state_19",
"state_20",
"state_21"
]
},
"action": {
"dtype": "float32",
"shape": [
22
],
"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"
]
},
"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:
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