metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
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": "metaworld",
"total_episodes": 2500,
"total_frames": 204806,
"total_tasks": 49,
"chunks_size": 1000,
"fps": 80,
"splits": {
"train": "0:2500"
},
"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",
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
4
],
"names": {
"axes": null
},
"fps": 80
},
"action": {
"dtype": "float32",
"shape": [
4
],
"names": {
"axes": [
"x",
"y",
"z",
"gripper"
]
},
"fps": 80
},
"next.reward": {
"dtype": "float32",
"shape": [
1
],
"names": null,
"fps": 80
},
"next.success": {
"dtype": "bool",
"shape": [
1
],
"names": null,
"fps": 80
},
"observation.environment_state": {
"dtype": "float32",
"shape": [
39
],
"names": [
"keypoints"
],
"fps": 80
},
"observation.image": {
"dtype": "image",
"shape": [
3,
480,
480
],
"names": [
"channels",
"height",
"width"
],
"fps": 80
},
"task_id": {
"dtype": "int16",
"shape": [
1
],
"names": null,
"fps": 80
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null,
"fps": 80
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 80
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 80
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 80
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 80
}
},
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500
}
Citation
BibTeX:
[More Information Needed]