metadata
license: mit
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
data_files: data/*/*.parquet
This dataset was created using LeRobot.
Dataset Description
- Homepage: https://ut-austin-rpl.github.io/sailor/
- Paper: https://arxiv.org/abs/2210.11435
- License: mit
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "unknown",
"total_episodes": 240,
"total_frames": 353094,
"total_tasks": 4,
"total_videos": 480,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:240"
},
"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": {
"dtype": "video",
"shape": [
128,
128,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 20.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.image": {
"dtype": "video",
"shape": [
128,
128,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 20.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"language_instruction": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"observation.state": {
"dtype": "float32",
"shape": [
8
],
"names": {
"motors": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5",
"motor_6",
"motor_7"
]
}
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": {
"motors": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5",
"motor_6"
]
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"next.reward": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"next.done": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
@inproceedings{nasiriany2022sailor,
title={Learning and Retrieval from Prior Data for Skill-based Imitation Learning},
author={Soroush Nasiriany and Tian Gao and Ajay Mandlekar and Yuke Zhu},
booktitle={Conference on Robot Learning (CoRL)},
year={2022}
}