ember-lab-berkeley/fractal20220817_data

---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
data_files: data/*/*.parquet
---

This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).

## Dataset Description

- **Homepage:** [More Information Needed]
- **Paper:** [More Information Needed]
- **License:** apache-2.0

## Dataset Structure

[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v3.0",
"robot_type": "google_robot",
"total_episodes": 87212,
"total_frames": 3786400,
"total_tasks": 599,
"chunks_size": 1000,
"fps": 3,
"splits": {
"train": "0:87212"
},
"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.images.image": {
"dtype": "video",
"shape": [
256,
320,
3
],
"names": [
"height",
"width",
"rgb"
],
"info": {
"video.fps": 3.0,
"video.height": 256,
"video.width": 320,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.state": {
"dtype": "float32",
"shape": [
8
],
"names": {
"motors": [
"x",
"y",
"z",
"rx",
"ry",
"rz",
"rw",
"gripper"
]
},
"fps": 3
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": {
"motors": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw",
"gripper"
]
},
"fps": 3
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null,
"fps": 3
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 3
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 3
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 3
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 3
}
},
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500
}
```

## Citation

**BibTeX:**

```bibtex
[More Information Needed]
```