metadata
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.
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
{
"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:
[More Information Needed]