yananchen/robocasa_lerobot

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

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

## Dataset Description

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

## Dataset Structure
Originally comes from `https://robocasa.ai/docs/build/html/datasets/datasets_overview.html`

the script to build this dataset : `https://github.com/yanan1116/flow_matching/blob/master/examples/push_lerobot.py#L171`

this dataset includes
- `Atomic`: such as pick and place, open door, open drawer, turn faucet, navigate to kitchen, turn microwave ...
- `Composite` : such as waffle reheat, transfer pan, make ice lemon, select a croissant and place it on the cutting board ...

[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v3.0",
"robot_type": "panda",
"total_episodes": 1651,
"total_frames": 577597,
"total_tasks": 30,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:1651"
},
"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": {
"image": {
"dtype": "image",
"shape": [
128,
128,
3
],
"names": [
"height",
"width",
"channel"
]
},
"wrist_image": {
"dtype": "image",
"shape": [
128,
128,
3
],
"names": [
"height",
"width",
"channel"
]
},
"state": {
"dtype": "float32",
"shape": [
8
],
"names": [
"state"
]
},
"actions": {
"dtype": "float32",
"shape": [
12
],
"names": [
"actions"
]
},
"instruction": {
"dtype": "string",
"shape": [
1
],
"names": [
"instruction"
]
},
"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]
```