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observation.state
sequence
action
sequence
timestamp
float32
episode_index
int64
frame_index
int64
next.reward
float32
next.done
bool
index
int64
task_index
int64
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This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "unknown",
    "total_episodes": 1647,
    "total_frames": 42328,
    "total_tasks": 1,
    "total_videos": 6588,
    "total_chunks": 2,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
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    "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",
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    }
}

Citation

BibTeX:

@article{luo2023multistage,
    author    = {Jianlan Luo and Charles Xu and Xinyang Geng and Gilbert Feng and Kuan Fang and Liam Tan and Stefan Schaal and Sergey Levine},
    title     = {Multi-Stage Cable Routing through Hierarchical Imitation Learning},
    journal   = {arXiv pre-print},
    year      = {2023},
    url       = {https://arxiv.org/abs/2307.08927},
}
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