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Datasets:
ishika
/
robocasa_gr1_tabletop_tasks

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
100K - 1M
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
1
robocasa_gr1_tabletop_tasks
File size: 3,787 Bytes
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{
    "codebase_version": "v2.1",
    "robot_type": "robomimic",
    "total_episodes": 2235,
    "total_frames": 552031,
    "total_tasks": 20,
    "total_videos": 2235,
    "total_chunks": 3,
    "chunks_size": 1000,
    "fps": 20,
    "splits": {
        "train": "0:1877",
        "test": "1877:2235"
    },
    "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": {
        "action": {
            "dtype": "float32",
            "shape": [
                24
            ],
            "names": [
                "action_0",
                "action_1",
                "action_2",
                "action_3",
                "action_4",
                "action_5",
                "action_6",
                "action_7",
                "action_8",
                "action_9",
                "action_10",
                "action_11",
                "action_12",
                "action_13",
                "action_14",
                "action_15",
                "action_16",
                "action_17",
                "action_18",
                "action_19",
                "action_20",
                "action_21",
                "action_22",
                "action_23"
            ]
        },
        "next.done": {
            "dtype": "bool",
            "shape": [
                1
            ],
            "names": [
                "done"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                43
            ],
            "names": [
                "robot0_right_eef_pos",
                "robot0_right_eef_quat",
                "robot0_right_gripper_qpos",
                "robot0_left_eef_pos",
                "robot0_left_eef_quat",
                "robot0_left_gripper_qpos",
                "robot0_base_pos",
                "robot0_base_quat"
            ]
        },
        "observation.condition": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                "right_abs_pos_gr1_contact_condition",
                "right_abs_rot_gr1_contact_condition",
                "left_abs_pos_gr1_contact_condition",
                "left_abs_rot_gr1_contact_condition"
            ]
        },
        "observation.images.egoview": {
            "dtype": "video",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 256,
                "video.width": 256,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "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
        }
    }
}