Hugging Face's logo

Datasets:
lerobot
/
berkeley_cable_routing

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
ArXiv:
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Viewer Files Community
1
aliberts HF staff commited on
Commit
5824d70
•
1 Parent(s): 8c97655

Upload README.md with huggingface_hub

Browse files
Files changed (1) hide show
  1. README.md +194 -89
README.md CHANGED
@@ -1,16 +1,30 @@
1
  ---
 
2
  task_categories:
3
  - robotics
4
  tags:
5
  - LeRobot
 
 
 
6
  ---
 
7
  This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
8
 
9
- [meta/info.json](meta/info.json)
 
 
 
 
 
 
 
 
 
 
10
  ```json
11
  {
12
  "codebase_version": "v2.0",
13
- "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
14
  "robot_type": "unknown",
15
  "total_episodes": 1647,
16
  "total_frames": 42328,
@@ -22,104 +36,195 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
22
  "splits": {
23
  "train": "0:1647"
24
  },
25
- "keys": [
26
- "observation.state",
27
- "action"
28
- ],
29
- "video_keys": [
30
- "observation.images.top_image",
31
- "observation.images.wrist225_image",
32
- "observation.images.wrist45_image",
33
- "observation.images.image"
34
- ],
35
- "image_keys": [],
36
- "shapes": {
37
- "observation.state": 8,
38
- "action": 7,
39
  "observation.images.top_image": {
40
- "width": 128,
41
- "height": 128,
42
- "channels": 3
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
43
  },
44
  "observation.images.wrist225_image": {
45
- "width": 128,
46
- "height": 128,
47
- "channels": 3
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
48
  },
49
  "observation.images.wrist45_image": {
50
- "width": 128,
51
- "height": 128,
52
- "channels": 3
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
53
  },
54
  "observation.images.image": {
55
- "width": 128,
56
- "height": 128,
57
- "channels": 3
58
- }
59
- },
60
- "names": {
61
- "observation.state": [
62
- "motor_0",
63
- "motor_1",
64
- "motor_2",
65
- "motor_3",
66
- "motor_4",
67
- "motor_5",
68
- "motor_6",
69
- "motor_7"
70
- ],
71
- "action": [
72
- "motor_0",
73
- "motor_1",
74
- "motor_2",
75
- "motor_3",
76
- "motor_4",
77
- "motor_5",
78
- "motor_6"
79
- ]
80
- },
81
- "videos": {
82
- "videos_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
83
- "observation.images.top_image": {
84
- "video.fps": 10.0,
85
- "video.width": 128,
86
- "video.height": 128,
87
- "video.channels": 3,
88
- "video.codec": "av1",
89
- "video.pix_fmt": "yuv420p",
90
- "video.is_depth_map": false,
91
- "has_audio": false
92
  },
93
- "observation.images.wrist225_image": {
94
- "video.fps": 10.0,
95
- "video.width": 128,
96
- "video.height": 128,
97
- "video.channels": 3,
98
- "video.codec": "av1",
99
- "video.pix_fmt": "yuv420p",
100
- "video.is_depth_map": false,
101
- "has_audio": false
102
  },
103
- "observation.images.wrist45_image": {
104
- "video.fps": 10.0,
105
- "video.width": 128,
106
- "video.height": 128,
107
- "video.channels": 3,
108
- "video.codec": "av1",
109
- "video.pix_fmt": "yuv420p",
110
- "video.is_depth_map": false,
111
- "has_audio": false
 
 
 
 
 
 
 
 
112
  },
113
- "observation.images.image": {
114
- "video.fps": 10.0,
115
- "video.width": 128,
116
- "video.height": 128,
117
- "video.channels": 3,
118
- "video.codec": "av1",
119
- "video.pix_fmt": "yuv420p",
120
- "video.is_depth_map": false,
121
- "has_audio": false
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
122
  }
123
  }
124
  }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
125
  ```
 
1
  ---
2
+ license: cc-by-4.0
3
  task_categories:
4
  - robotics
5
  tags:
6
  - LeRobot
7
+ configs:
8
+ - config_name: default
9
+ data_files: data/*/*.parquet
10
  ---
11
+
12
  This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
13
 
14
+ ## Dataset Description
15
+
16
+
17
+
18
+ - **Homepage:** https://sites.google.com/view/cablerouting/home
19
+ - **Paper:** https://arxiv.org/abs/2307.08927
20
+ - **License:** cc-by-4.0
21
+
22
+ ## Dataset Structure
23
+
24
+ [meta/info.json](meta/info.json):
25
  ```json
26
  {
27
  "codebase_version": "v2.0",
 
28
  "robot_type": "unknown",
29
  "total_episodes": 1647,
30
  "total_frames": 42328,
 
36
  "splits": {
37
  "train": "0:1647"
38
  },
39
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
40
+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
41
+ "features": {
 
 
 
 
 
 
 
 
 
 
 
42
  "observation.images.top_image": {
43
+ "dtype": "video",
44
+ "shape": [
45
+ 128,
46
+ 128,
47
+ 3
48
+ ],
49
+ "names": [
50
+ "height",
51
+ "width",
52
+ "channel"
53
+ ],
54
+ "video_info": {
55
+ "video.fps": 10.0,
56
+ "video.codec": "av1",
57
+ "video.pix_fmt": "yuv420p",
58
+ "video.is_depth_map": false,
59
+ "has_audio": false
60
+ }
61
  },
62
  "observation.images.wrist225_image": {
63
+ "dtype": "video",
64
+ "shape": [
65
+ 128,
66
+ 128,
67
+ 3
68
+ ],
69
+ "names": [
70
+ "height",
71
+ "width",
72
+ "channel"
73
+ ],
74
+ "video_info": {
75
+ "video.fps": 10.0,
76
+ "video.codec": "av1",
77
+ "video.pix_fmt": "yuv420p",
78
+ "video.is_depth_map": false,
79
+ "has_audio": false
80
+ }
81
  },
82
  "observation.images.wrist45_image": {
83
+ "dtype": "video",
84
+ "shape": [
85
+ 128,
86
+ 128,
87
+ 3
88
+ ],
89
+ "names": [
90
+ "height",
91
+ "width",
92
+ "channel"
93
+ ],
94
+ "video_info": {
95
+ "video.fps": 10.0,
96
+ "video.codec": "av1",
97
+ "video.pix_fmt": "yuv420p",
98
+ "video.is_depth_map": false,
99
+ "has_audio": false
100
+ }
101
  },
102
  "observation.images.image": {
103
+ "dtype": "video",
104
+ "shape": [
105
+ 128,
106
+ 128,
107
+ 3
108
+ ],
109
+ "names": [
110
+ "height",
111
+ "width",
112
+ "channel"
113
+ ],
114
+ "video_info": {
115
+ "video.fps": 10.0,
116
+ "video.codec": "av1",
117
+ "video.pix_fmt": "yuv420p",
118
+ "video.is_depth_map": false,
119
+ "has_audio": false
120
+ }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
121
  },
122
+ "language_instruction": {
123
+ "dtype": "string",
124
+ "shape": [
125
+ 1
126
+ ],
127
+ "names": null
 
 
 
128
  },
129
+ "observation.state": {
130
+ "dtype": "float32",
131
+ "shape": [
132
+ 8
133
+ ],
134
+ "names": {
135
+ "motors": [
136
+ "motor_0",
137
+ "motor_1",
138
+ "motor_2",
139
+ "motor_3",
140
+ "motor_4",
141
+ "motor_5",
142
+ "motor_6",
143
+ "motor_7"
144
+ ]
145
+ }
146
  },
147
+ "action": {
148
+ "dtype": "float32",
149
+ "shape": [
150
+ 7
151
+ ],
152
+ "names": {
153
+ "motors": [
154
+ "motor_0",
155
+ "motor_1",
156
+ "motor_2",
157
+ "motor_3",
158
+ "motor_4",
159
+ "motor_5",
160
+ "motor_6"
161
+ ]
162
+ }
163
+ },
164
+ "timestamp": {
165
+ "dtype": "float32",
166
+ "shape": [
167
+ 1
168
+ ],
169
+ "names": null
170
+ },
171
+ "episode_index": {
172
+ "dtype": "int64",
173
+ "shape": [
174
+ 1
175
+ ],
176
+ "names": null
177
+ },
178
+ "frame_index": {
179
+ "dtype": "int64",
180
+ "shape": [
181
+ 1
182
+ ],
183
+ "names": null
184
+ },
185
+ "next.reward": {
186
+ "dtype": "float32",
187
+ "shape": [
188
+ 1
189
+ ],
190
+ "names": null
191
+ },
192
+ "next.done": {
193
+ "dtype": "bool",
194
+ "shape": [
195
+ 1
196
+ ],
197
+ "names": null
198
+ },
199
+ "index": {
200
+ "dtype": "int64",
201
+ "shape": [
202
+ 1
203
+ ],
204
+ "names": null
205
+ },
206
+ "task_index": {
207
+ "dtype": "int64",
208
+ "shape": [
209
+ 1
210
+ ],
211
+ "names": null
212
  }
213
  }
214
  }
215
+ ```
216
+
217
+
218
+ ## Citation
219
+
220
+ **BibTeX:**
221
+
222
+ ```bibtex
223
+ @article{luo2023multistage,
224
+ author = {Jianlan Luo and Charles Xu and Xinyang Geng and Gilbert Feng and Kuan Fang and Liam Tan and Stefan Schaal and Sergey Levine},
225
+ title = {Multi-Stage Cable Routing through Hierarchical Imitation Learning},
226
+ journal = {arXiv pre-print},
227
+ year = {2023},
228
+ url = {https://arxiv.org/abs/2307.08927},
229
+ }
230
  ```