Datasets:
Search is not available for this dataset
image
image | wrist_image
image | state
list | actions
list | timestamp
float32 | frame_index
int64 | episode_index
int64 | index
int64 | task_index
int64 |
|---|---|---|---|---|---|---|---|---|
[
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[
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|
End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Description
This dataset is in lerobot format of version v2.1. (feel free to upgrade it to v3.0 using lerobot cli command)
It only includes the part of Core from https://robomimic.github.io/docs/datasets/mimicgen.html.
Therefore, in total, there are 120 human demonstrations / trajectories across 12 tasks.
Upstream files are from mimicgen :
coffee.hdf5 hammer_cleanup.hdf5 mug_cleanup.hdf5 pick_place.hdf5 stack.hdf5 threading.hdf5
coffee_preparation.hdf5 kitchen.hdf5 nut_assembly.hdf5 square.hdf5 stack_three.hdf5 three_piece_assembly.hdf5
I plan to push the part of Source which includes much more trajectories: 26,000 task demonstrations across 12 tasks (26 task variants)
Upstream files
coffee_d0.hdf5 coffee_preparation_d1.hdf5 kitchen_d1.hdf5 pick_place_d0.hdf5 stack_d0.hdf5 threading_d0.hdf5 three_piece_assembly_d1.hdf5
coffee_d1.hdf5 hammer_cleanup_d0.hdf5 mug_cleanup_d0.hdf5 square_d0.hdf5 stack_d1.hdf5 threading_d1.hdf5 three_piece_assembly_d2.hdf5
coffee_d2.hdf5 hammer_cleanup_d1.hdf5 mug_cleanup_d1.hdf5 square_d1.hdf5 stack_three_d0.hdf5 threading_d2.hdf5
coffee_preparation_d0.hdf5 kitchen_d0.hdf5 nut_assembly_d0.hdf5 square_d2.hdf5 stack_three_d1.hdf5 three_piece_assembly_d0.hdf5
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 120,
"total_frames": 39977,
"total_tasks": 10,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:120"
},
"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": {
"image": {
"dtype": "image",
"shape": [
84,
84,
3
],
"names": [
"height",
"width",
"channel"
]
},
"wrist_image": {
"dtype": "image",
"shape": [
84,
84,
3
],
"names": [
"height",
"width",
"channel"
]
},
"state": {
"dtype": "float32",
"shape": [
8
],
"names": [
"state"
]
},
"actions": {
"dtype": "float32",
"shape": [
7
],
"names": [
"actions"
]
},
"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:
[More Information Needed]
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