Datasets:
metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- rlbench
- lerobot
- single-view
- train
- close_box
configs:
- config_name: default
data_files: data/*/*.parquet
This dataset was created using LeRobot.
Dataset Description
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "rlbench_panda",
"total_episodes": 100,
"total_frames": 19044,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:100"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": null,
"features": {
"observation.images.front": {
"dtype": "image",
"shape": [
128,
128,
3
],
"names": [
"height",
"width",
"channels"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
94
],
"names": {
"axes": [
"low_dim_state_0",
"low_dim_state_1",
"low_dim_state_2",
"low_dim_state_3",
"low_dim_state_4",
"low_dim_state_5",
"low_dim_state_6",
"low_dim_state_7",
"low_dim_state_8",
"low_dim_state_9",
"low_dim_state_10",
"low_dim_state_11",
"low_dim_state_12",
"low_dim_state_13",
"low_dim_state_14",
"low_dim_state_15",
"low_dim_state_16",
"low_dim_state_17",
"low_dim_state_18",
"low_dim_state_19",
"low_dim_state_20",
"low_dim_state_21",
"low_dim_state_22",
"low_dim_state_23",
"low_dim_state_24",
"low_dim_state_25",
"low_dim_state_26",
"low_dim_state_27",
"low_dim_state_28",
"low_dim_state_29",
"low_dim_state_30",
"low_dim_state_31",
"low_dim_state_32",
"low_dim_state_33",
"low_dim_state_34",
"low_dim_state_35",
"low_dim_state_36",
"low_dim_state_37",
"low_dim_state_38",
"low_dim_state_39",
"low_dim_state_40",
"low_dim_state_41",
"low_dim_state_42",
"low_dim_state_43",
"low_dim_state_44",
"low_dim_state_45",
"low_dim_state_46",
"low_dim_state_47",
"low_dim_state_48",
"low_dim_state_49",
"low_dim_state_50",
"low_dim_state_51",
"low_dim_state_52",
"low_dim_state_53",
"low_dim_state_54",
"low_dim_state_55",
"low_dim_state_56",
"low_dim_state_57",
"low_dim_state_58",
"low_dim_state_59",
"low_dim_state_60",
"low_dim_state_61",
"low_dim_state_62",
"low_dim_state_63",
"low_dim_state_64",
"low_dim_state_65",
"low_dim_state_66",
"low_dim_state_67",
"low_dim_state_68",
"low_dim_state_69",
"low_dim_state_70",
"low_dim_state_71",
"low_dim_state_72",
"low_dim_state_73",
"low_dim_state_74",
"low_dim_state_75",
"low_dim_state_76",
"low_dim_state_77",
"low_dim_state_78",
"low_dim_state_79",
"low_dim_state_80",
"low_dim_state_81",
"low_dim_state_82",
"low_dim_state_83",
"low_dim_state_84",
"low_dim_state_85",
"low_dim_state_86",
"low_dim_state_87",
"low_dim_state_88",
"low_dim_state_89",
"low_dim_state_90",
"low_dim_state_91",
"low_dim_state_92",
"low_dim_state_93"
]
}
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": {
"axes": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6"
]
}
},
"done": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"reward": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"success": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"language_instruction": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"task_name": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"source_episode_id": {
"dtype": "string",
"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:
[More Information Needed]