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This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "WidowX",
"total_episodes": 100,
"total_frames": 3949,
"total_tasks": 61,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 5,
"splits": {
"train": "0:100"
},
"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": {
"is_first": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"is_last": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"is_terminal": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"language_instruction": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"observation.state": {
"dtype": "float32",
"shape": [
7
],
"names": {
"axes": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw",
"gripper"
]
}
},
"observation.images.image_0": {
"dtype": "image",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channels"
]
},
"observation.images.image_1": {
"dtype": "image",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channels"
]
},
"observation.images.image_2": {
"dtype": "image",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channels"
]
},
"observation.images.image_3": {
"dtype": "image",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channels"
]
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": {
"axes": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw",
"gripper"
]
}
},
"discount": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"reward": {
"dtype": "float32",
"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
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