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README.md
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| 1 |
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---
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| 2 |
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license: apache-2.0
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task_categories:
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- robotics
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tags:
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- LeRobot
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- so101
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- sim
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- mujoco
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- cube-pickup
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- wrist-only
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- teleop
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- sim2real
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configs:
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- config_name: default
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data_files: data/*/*.parquet
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---
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This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=mertkirgil/so101_sim_cube_teleop_v1">
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<img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
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<img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
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</a>
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## Dataset Description
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- **Homepage:** [More Information Needed]
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- **Paper:** [More Information Needed]
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- **License:** apache-2.0
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## Dataset Structure
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[meta/info.json](meta/info.json):
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```json
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{
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"codebase_version": "v3.0",
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"fps": 30,
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"features": {
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"observation.images.wrist": {
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"dtype": "video",
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"shape": [
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3,
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480,
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640
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],
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"names": [
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"channels",
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"height",
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"width"
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],
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"info": {
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"video.height": 480,
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"video.width": 640,
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"video.codec": "h264",
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"video.pix_fmt": "yuv420p",
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"video.fps": 30,
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"video.channels": 3,
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"has_audio": false,
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"video.g": 2,
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"video.crf": 30,
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| 66 |
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"video.preset": null,
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"video.fast_decode": 0,
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"video.video_backend": "pyav",
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| 69 |
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"video.extra_options": {},
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"is_depth_map": false
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}
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},
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"observation.state": {
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"dtype": "float32",
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| 75 |
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"shape": [
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| 76 |
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6
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| 77 |
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],
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| 78 |
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"names": [
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| 79 |
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"1",
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| 80 |
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"2",
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| 81 |
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"3",
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| 82 |
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"4",
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| 83 |
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"5",
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| 84 |
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"6"
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| 85 |
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]
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| 86 |
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},
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| 87 |
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"action": {
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| 88 |
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"dtype": "float32",
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| 89 |
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"shape": [
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| 90 |
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6
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| 91 |
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],
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| 92 |
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"names": [
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| 93 |
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"1",
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| 94 |
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"2",
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| 95 |
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"3",
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| 96 |
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"4",
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| 97 |
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"5",
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| 98 |
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"6"
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| 99 |
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]
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| 100 |
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},
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| 101 |
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"timestamp": {
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| 102 |
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"dtype": "float32",
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| 103 |
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"shape": [
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| 104 |
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1
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| 105 |
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],
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| 106 |
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"names": null
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| 107 |
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},
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| 108 |
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"frame_index": {
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| 109 |
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"dtype": "int64",
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| 110 |
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"shape": [
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| 111 |
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1
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| 112 |
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],
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| 113 |
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"names": null
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| 114 |
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},
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| 115 |
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"episode_index": {
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| 116 |
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"dtype": "int64",
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| 117 |
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"shape": [
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| 118 |
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1
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| 119 |
+
],
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| 120 |
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"names": null
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| 121 |
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},
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| 122 |
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"index": {
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| 123 |
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"dtype": "int64",
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| 124 |
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"shape": [
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| 125 |
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1
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| 126 |
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],
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| 127 |
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"names": null
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| 128 |
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},
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| 129 |
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"task_index": {
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| 130 |
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"dtype": "int64",
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| 131 |
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"shape": [
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| 132 |
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1
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| 133 |
+
],
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| 134 |
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"names": null
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| 135 |
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}
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| 136 |
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},
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| 137 |
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"total_episodes": 50,
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| 138 |
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"total_frames": 18000,
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"total_tasks": 1,
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| 140 |
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"chunks_size": 1000,
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| 141 |
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"data_files_size_in_mb": 100,
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| 142 |
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"video_files_size_in_mb": 200,
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| 143 |
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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| 144 |
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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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| 145 |
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"robot_type": "so101",
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| 146 |
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"splits": {
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| 147 |
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"train": "0:50"
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| 148 |
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}
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| 149 |
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}
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```
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## Citation
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| 154 |
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| 155 |
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**BibTeX:**
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| 156 |
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| 157 |
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```bibtex
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| 158 |
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[More Information Needed]
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| 159 |
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```
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