Open X-Embodiment
Collection
Datasets from Open X-Embodiment (OXE) in LeRobot dataset format
•
57 items
•
Updated
•
5
Datasets:
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observation.state
listlengths 7
7
| action
listlengths 4
4
| timestamp
float32 0
9.8
| episode_index
int64 0
1.35k
| frame_index
int64 0
49
| next.reward
float32 0
1
| next.done
bool 2
classes | index
int64 0
67.7k
| task_index
int64 0
2
|
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End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "unknown",
"total_episodes": 1355,
"total_frames": 67750,
"total_tasks": 3,
"total_videos": 1355,
"total_chunks": 2,
"chunks_size": 1000,
"fps": 5,
"splits": {
"train": "0:1355"
},
"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": {
"observation.images.image": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 5.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"language_instruction": {
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"names": null
},
"observation.state": {
"dtype": "float32",
"shape": [
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],
"names": {
"motors": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
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}
},
"action": {
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"names": {
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}
},
"timestamp": {
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"next.reward": {
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}
}
Citation
BibTeX:
@preprint{Feng2023Finetuning,
title={Finetuning Offline World Models in the Real World},
author={Yunhai Feng, Nicklas Hansen, Ziyan Xiong, Chandramouli Rajagopalan, Xiaolong Wang},
year={2023}
}
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Homepage:
owmcorl.github.io
Paper:
arxiv.org
License:
mit
Size of downloaded dataset files:
3.7 MB
Size of the auto-converted Parquet files:
3.7 MB
Number of rows:
67,750