Hugging Face's logo

Datasets:
yananchen
/
robomimic_ph__lift_can_square_toolhang

Tasks:
Robotics
Modalities:
Image
Time-series
Formats:
parquet
Size:
100K - 1M
Tags:
LeRobot
libero
robosuite
robomimicpanda
franka
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
 Community
1
robomimic_ph__lift_can_square_toolhang
File size: 3,269 Bytes
fee3f7f
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
ffe7e21
 
 
 
 
 
 
 
fee3f7f
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- libero
- robosuite
- robomimicpanda
- franka
configs:
- config_name: default
  data_files: data/*/*.parquet
---

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

## Dataset Description
From repo: `https://robomimic.github.io/docs/datasets/robomimic_v0.1.html`


four tasks included: lift the cube, pick and place can, square and tool hanging (each task has 200 episodes)

The collected trajectories are only from `Proficient-Human (PH)` operator.

This dataset can be directly used to train VLA models such as openpi. (lerobot v2.1 is more compatible, this dataset is of v3.0)


- **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": "panda",
    "total_episodes": 800,
    "total_frames": 158989,
    "total_tasks": 4,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:800"
    },
    "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": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "fps": 10
        },
        "wrist_image": {
            "dtype": "image",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "fps": 10
        },
        "state": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": [
                "state"
            ],
            "fps": 10
        },
        "actions": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "actions"
            ],
            "fps": 10
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 10
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 10
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 10
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 10
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 10
        }
    },
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200
}
```


## Citation

**BibTeX:**

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