metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
data_files: data/*/*.parquet
This dataset was created using LeRobot.
Dataset Description
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "frodobot",
"total_episodes": 10,
"total_frames": 4948,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 10,
"splits": {
"train": "0:10"
},
"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": {
"action": {
"dtype": "float32",
"shape": [
2
],
"names": [
"linear_velocity",
"angular_velocity"
]
},
"observation.images.front": {
"dtype": "video",
"shape": [
128,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 128,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.rear": {
"dtype": "video",
"shape": [
64,
96,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 64,
"video.width": 96,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.state": {
"dtype": "float32",
"shape": [
23
],
"names": [
"filtered_position_x",
"filtered_position_y",
"relative_position_x",
"relative_position_y",
"utm_position_x",
"utm_position_y",
"filtered_heading",
"compass_heading",
"accelerometer_x",
"accelerometer_y",
"accelerometer_z",
"gyroscope_x",
"gyroscope_y",
"gyroscope_z",
"magnetometer_filtered_x",
"magnetometer_filtered_y",
"magnetometer_filtered_z",
"wheel_rpm_0",
"wheel_rpm_1",
"wheel_rpm_2",
"wheel_rpm_3",
"latitude",
"longitude"
]
},
"observation.action_mbra": {
"dtype": "float32",
"shape": [
2
],
"names": [
"mbra_linear",
"mbra_angular"
]
},
"observation.action_original": {
"dtype": "float32",
"shape": [
2
],
"names": [
"original_linear",
"original_angular"
]
},
"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]