metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- LeRobot
- droid
- rlds
- openx
- franka
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": "v2.0",
"robot_type": "franka",
"total_episodes": 58611,
"total_frames": 17165910,
"total_tasks": 21239,
"total_videos": 175833,
"total_chunks": 59,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:58611"
},
"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.wrist_image_left": {
"dtype": "video",
"shape": [
180,
320,
3
],
"names": [
"height",
"width",
"rgb"
]
},
"observation.images.exterior_image_2_left": {
"dtype": "video",
"shape": [
180,
320,
3
],
"names": [
"height",
"width",
"rgb"
]
},
"observation.images.exterior_image_1_left": {
"dtype": "video",
"shape": [
180,
320,
3
],
"names": [
"height",
"width",
"rgb"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
8
],
"names": {
"motors": [
"x",
"y",
"z",
"rx",
"ry",
"rz",
"rw",
"gripper"
]
}
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": {
"motors": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw",
"gripper"
]
}
},
"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]