savoji/behavior-1k-2025-challenge-demos-debug

--- license: mit task_categories: - robotics tags: - LeRobot - v - '2' - . - '1' 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:** mit ## Dataset Structure [meta/info.json](meta/info.json): ```json { "codebase_version": "v2.1", "robot_type": "R1Pro", "total_episodes": 10000, "total_frames": 119094660, "total_tasks": 50, "total_videos": 90000, "chunks_size": 10000, "fps": 30, "splits": { "train": "0:10000" }, "data_path": "data/task-{episode_chunk:04d}/episode_{episode_index:08d}.parquet", "video_path": "videos/task-{episode_chunk:04d}/{video_key}/episode_{episode_index:08d}.mp4", "metainfo_path": "meta/episodes/task-{episode_chunk:04d}/episode_{episode_index:08d}.json", "annotation_path": "annotations/task-{episode_chunk:04d}/episode_{episode_index:08d}.json", "features": { "observation.images.rgb.left_wrist": { "dtype": "video", "shape": [ 480, 480, 3 ], "names": [ "height", "width", "rgb" ], "info": { "video.fps": 30.0, "video.height": 480, "video.width": 480, "video.channels": 3, "video.codec": "libx265", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false } }, "observation.images.rgb.right_wrist": { "dtype": "video", "shape": [ 480, 480, 3 ], "names": [ "height", "width", "rgb" ], "info": { "video.fps": 30.0, "video.height": 480, "video.width": 480, "video.channels": 3, "video.codec": "libx265", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false } }, "observation.images.rgb.head": { "dtype": "video", "shape": [ 720, 720, 3 ], "names": [ "height", "width", "rgb" ], "info": { "video.fps": 30.0, "video.height": 720, "video.width": 720, "video.channels": 3, "video.codec": "libx265", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false } }, "observation.images.depth.left_wrist": { "dtype": "video", "shape": [ 480, 480, 3 ], "names": [ "height", "width", "depth" ], "info": { "video.fps": 30.0, "video.height": 480, "video.width": 480, "video.channels": 3, "video.codec": "libx265", "video.pix_fmt": "yuv420p16le", "video.is_depth_map": true, "has_audio": false } }, "observation.images.depth.right_wrist": { "dtype": "video", "shape": [ 480, 480, 3 ], "names": [ "height", "width", "depth" ], "info": { "video.fps": 30.0, "video.height": 480, "video.width": 480, "video.channels": 3, "video.codec": "libx265", "video.pix_fmt": "yuv420p16le", "video.is_depth_map": true, "has_audio": false } }, "observation.images.depth.head": { "dtype": "video", "shape": [ 720, 720, 3 ], "names": [ "height", "width", "depth" ], "info": { "video.fps": 30.0, "video.height": 720, "video.width": 720, "video.channels": 3, "video.codec": "libx265", "video.pix_fmt": "yuv420p16le", "video.is_depth_map": true, "has_audio": false } }, "observation.images.seg_instance_id.left_wrist": { "dtype": "video", "shape": [ 480, 480, 3 ], "names": [ "height", "width", "rgb" ], "info": { "video.fps": 30.0, "video.height": 480, "video.width": 480, "video.channels": 3, "video.codec": "libx265", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false } }, "observation.images.seg_instance_id.right_wrist": { "dtype": "video", "shape": [ 480, 480, 3 ], "names": [ "height", "width", "rgb" ], "info": { "video.fps": 30.0, "video.height": 480, "video.width": 480, "video.channels": 3, "video.codec": "libx265", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false } }, "observation.images.seg_instance_id.head": { "dtype": "video", "shape": [ 720, 720, 3 ], "names": [ "height", "width", "rgb" ], "info": { "video.fps": 30.0, "video.height": 720, "video.width": 720, "video.channels": 3, "video.codec": "libx265", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false } }, "action": { "dtype": "float32", "shape": [ 23 ], "names": null }, "timestamp": { "dtype": "float64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "observation.cam_rel_poses": { "dtype": "float32", "shape": [ 21 ], "names": null }, "observation.state": { "dtype": "float32", "shape": [ 256 ], "names": null }, "observation.task_info": { "dtype": "float32", "shape": [ null ], "names": null } } } ``` ## Citation **BibTeX:** ```bibtex @article{li2024behavior, title={Behavior-1k: A human-centered, embodied ai benchmark with 1,000 everyday activities and realistic simulation}, author={Li, Chengshu and Zhang, Ruohan and Wong, Josiah and Gokmen, Cem and Srivastava, Sanjana and Mart{'i}n-Mart{'i}n, Roberto and Wang, Chen and Levine, Gabrael and Ai, Wensi and Martinez, Benjamin and Yin, Hang and Lingelbach, Michael and Hwang, Minjune and Hiranaka, Ayano and Garlanka, Sujay and Aydin, Arman and Lee, Sharon and Sun, Jiankai and Anvari, Mona and Sharma, Manasi and Bansal, Dhruva and Hunter, Samuel and Kim, Kyu-Young and Lou, Alan and Matthews, Caleb R. and Villa-Renteria, Ivan and Tang, Jerry Huayang and Tang, Claire and Xia, Fei and Li, Yunzhu and Savarese, Silvio and Gweon, Hyowon and Liu, C. Karen and Wu, Jiajun and Fei-Fei, Li}, journal={arXiv preprint arXiv:2403.09227}, year={2024} } ```