kimyg119/diffusion_ai_worker_soup_can_pnp
Robotics • 0.3B • Updated • 5
Datasets:
144 episodes · 30 fps · 3 cameras · 224×224 av1
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "ffw_bg2",
"total_episodes": 144,
"total_frames": 32400,
"total_tasks": 1,
"total_videos": 432,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:144"
},
"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": [
16
],
"names": [
"arm_l_joint1.pos",
"arm_r_joint1.pos",
"arm_l_joint2.pos",
"arm_r_joint2.pos",
"arm_l_joint3.pos",
"arm_r_joint3.pos",
"arm_l_joint4.pos",
"arm_r_joint4.pos",
"arm_l_joint5.pos",
"arm_r_joint5.pos",
"arm_l_joint6.pos",
"arm_r_joint6.pos",
"arm_l_joint7.pos",
"arm_r_joint7.pos",
"gripper_l.pos",
"gripper_r.pos"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
16
],
"names": [
"arm_l_joint1.pos",
"arm_r_joint1.pos",
"arm_l_joint2.pos",
"arm_r_joint2.pos",
"arm_l_joint3.pos",
"arm_r_joint3.pos",
"arm_l_joint4.pos",
"arm_r_joint4.pos",
"arm_l_joint5.pos",
"arm_r_joint5.pos",
"arm_l_joint6.pos",
"arm_r_joint6.pos",
"arm_l_joint7.pos",
"arm_r_joint7.pos",
"gripper_l.pos",
"gripper_r.pos"
]
},
"observation.images.head": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"video_info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30.0,
"video.channels": 3,
"has_audio": false
},
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left_wrist": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"video_info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30.0,
"video.channels": 3,
"has_audio": false
},
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right_wrist": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"video_info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30.0,
"video.channels": 3,
"has_audio": false
},
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"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
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Models trained or fine-tuned on kimyg119/AIWorker_SoupCanPnp_LightingAugmented