ankile/real01c-marker-insert-d1-ours-sobol-r0
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--- 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": "franka", "total_episodes": 50, "total_frames": 10045, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 15, "splits": { "train": "0:50" }, "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": [ 7 ], "names": [ "cart_pos_x", "cart_pos_y", "cart_pos_z", "cart_rot_x", "cart_rot_y", "cart_rot_z", "gripper_position" ] }, "action": { "dtype": "float32", "shape": [ 7 ], "names": [ "vel_x", "vel_y", "vel_z", "vel_roll", "vel_pitch", "vel_yaw", "gripper_action" ] }, "steps_to_go": { "dtype": "int64", "shape": [ 1 ], "names": [ "steps_to_go" ] }, "source": { "dtype": "int64", "shape": [ 1 ], "names": [ "source_id" ] }, "success": { "dtype": "int64", "shape": [ 1 ], "names": [ "success_flag" ] }, "is_valid": { "dtype": "int64", "shape": [ 1 ], "names": [ "is_valid_flag" ] }, "reward": { "dtype": "float32", "shape": [ 1 ], "names": [ "reward" ] }, "done": { "dtype": "int64", "shape": [ 1 ], "names": [ "done_flag" ] }, "manifest_idx": { "dtype": "int64", "shape": [ 1 ], "names": [ "manifest_idx" ] }, "pen_x": { "dtype": "float32", "shape": [ 1 ], "names": [ "pen_x" ] }, "pen_y": { "dtype": "float32", "shape": [ 1 ], "names": [ "pen_y" ] }, "pen_yaw": { "dtype": "float32", "shape": [ 1 ], "names": [ "pen_yaw" ] }, "action.cartesian_velocity": { "dtype": "float32", "shape": [ 6 ], "names": [ "x", "y", "z", "roll", "pitch", "yaw" ] }, "action.cartesian_position": { "dtype": "float32", "shape": [ 6 ], "names": [ "x", "y", "z", "roll", "pitch", "yaw" ] }, "action.joint_velocity": { "dtype": "float32", "shape": [ 7 ], "names": [ "joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6" ] }, "action.joint_position": { "dtype": "float32", "shape": [ 7 ], "names": [ "joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6" ] }, "action.gripper_position": { "dtype": "float32", "shape": [ 1 ], "names": [ "gripper" ] }, "action.gripper_velocity": { "dtype": "float32", "shape": [ 1 ], "names": [ "gripper" ] }, "observation.state.cartesian_position": { "dtype": "float32", "shape": [ 6 ], "names": [ "x", "y", "z", "roll", "pitch", "yaw" ] }, "observation.state.joint_position": { "dtype": "float32", "shape": [ 7 ], "names": [ "joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6" ] }, "observation.state.joint_velocity": { "dtype": "float32", "shape": [ 7 ], "names": [ "joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6" ] }, "observation.state.cartesian_velocity": { "dtype": "float32", "shape": [ 6 ], "names": [ "x", "y", "z", "roll", "pitch", "yaw" ] }, "observation.state.gripper_position": { "dtype": "float32", "shape": [ 1 ], "names": [ "gripper" ] }, "observation.images.18650758_left": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 15, "video.channels": 3, "has_audio": false } }, "observation.images.25916956_left": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 15, "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 **BibTeX:** ```bibtex [More Information Needed] ```
This dataset is a robotics learning dataset created using the LeRobot tool. It contains 50 total episodes, 10045 total frames, and is designed for the Franka robot type. The data is stored in parquet format, with video files in mp4 format at 15fps. The dataset includes rich features such as observation states (e.g., Cartesian position, joint position, velocity, gripper position), actions (e.g., Cartesian velocity, joint velocity, gripper action), rewards, done flags, success flags, and more. Additionally, it provides image observations from two different perspectives (resolution 480x640, RGB channels). The dataset is intended for robotics control, reinforcement learning, or imitation learning tasks, supporting model training and evaluation.
