Daniel233/RBY1_human_data_0401_v8_egoengine

---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- robotics
- lerobot
- rby1
- egoengine
- bimanual
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": "v2.0",
"robot_type": "rby1",
"total_episodes": 93,
"total_frames": 13116,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": [
82,
51,
52,
88,
78,
65,
33,
8,
37,
74,
30,
45,
77,
63,
41,
91,
49,
80,
12,
36,
23,
39,
40,
18,
67,
56,
55,
7,
34,
76,
46,
2,
16,
38,
70,
22,
68,
24,
5,
6,
21,
48,
85,
9,
86,
43,
92,
20,
0,
89,
57,
87,
53,
84,
25,
71,
79,
64,
29,
27,
83,
90,
4,
54,
75,
11,
69,
13,
17,
28,
31,
35,
3,
14,
81
],
"valid": [
61,
10,
44,
1,
66,
60,
15,
26,
42,
32,
47,
50,
73,
19,
62,
58,
59,
72
]
},
"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": {
"actions.joint": {
"dtype": "float32",
"shape": [
49
],
"names": [
"joint"
]
},
"actions.joint_arm": {
"dtype": "float32",
"shape": [
14
],
"names": [
"joint_arm"
]
},
"actions.joint_arm_hand": {
"dtype": "float32",
"shape": [
38
],
"names": [
"joint_arm_hand"
]
},
"actions.joint_arm_head_torso_base": {
"dtype": "float32",
"shape": [
25
],
"names": [
"joint_arm_head_torso_base"
]
},
"obs.aria_image": {
"dtype": "image",
"shape": [
128,
128,
3
],
"names": [
"channel",
"height",
"width"
]
},
"obs.hand_left_qpos": {
"dtype": "float32",
"shape": [
12
],
"names": [
"hand_left_qpos"
]
},
"obs.hand_right_qpos": {
"dtype": "float32",
"shape": [
12
],
"names": [
"hand_right_qpos"
]
},
"obs.robot0_joint_pos": {
"dtype": "float32",
"shape": [
26
],
"names": [
"robot0_joint_pos"
]
},
"obs.task_id": {
"dtype": "float32",
"shape": [
64
],
"names": [
"task_id"
]
},
"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
},
"obs.right_arm": {
"dtype": "float32",
"shape": [
7
],
"names": [
"right_arm"
]
},
"obs.left_arm": {
"dtype": "float32",
"shape": [
7
],
"names": [
"left_arm"
]
},
"actions.joint_right_arm_hand": {
"dtype": "float32",
"shape": [
19
],
"names": [
"joint_right_arm_hand"
]
},
"actions.joint_left_arm_hand": {
"dtype": "float32",
"shape": [
19
],
"names": [
"joint_left_arm_hand"
]
},
"actions.joint_right_arm": {
"dtype": "float32",
"shape": [
7
],
"names": [
"joint_right_arm"
]
},
"actions.joint_left_arm": {
"dtype": "float32",
"shape": [
7
],
"names": [
"joint_left_arm"
]
},
"actions.joint_right_arm_hand_torso": {
"dtype": "float32",
"shape": [
25
],
"names": [
"joint_right_arm_hand_torso"
]
},
"actions.joint_arm_hand_torso": {
"dtype": "float32",
"shape": [
44
],
"names": [
"joint_arm_hand_torso"
]
}
}
}
```

## Citation

**BibTeX:**

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