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--- |
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license: mit |
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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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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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## Dataset Description |
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- **Homepage:** https://sites.google.com/view/conq-hose-manipulation-dataset/home |
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- **Paper:** [More Information Needed] |
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- **License:** mit |
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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": "v2.0", |
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"robot_type": "unknown", |
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"total_episodes": 139, |
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"total_frames": 8277, |
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"total_tasks": 3, |
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"total_videos": 417, |
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"total_chunks": 1, |
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"chunks_size": 1000, |
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"fps": 30, |
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"splits": { |
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"train": "0:139" |
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}, |
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", |
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", |
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"features": { |
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"observation.images.frontright_fisheye_image": { |
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"dtype": "video", |
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"shape": [ |
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726, |
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604, |
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3 |
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], |
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"names": [ |
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"height", |
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"width", |
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"channel" |
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], |
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"video_info": { |
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"video.fps": 30.0, |
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"video.codec": "av1", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"has_audio": false |
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} |
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}, |
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"observation.images.hand_color_image": { |
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"dtype": "video", |
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"shape": [ |
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480, |
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640, |
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3 |
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], |
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"names": [ |
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"height", |
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"width", |
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"channel" |
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], |
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"video_info": { |
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"video.fps": 30.0, |
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"video.codec": "av1", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"has_audio": false |
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} |
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}, |
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"observation.images.frontleft_fisheye_image": { |
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"dtype": "video", |
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"shape": [ |
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726, |
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604, |
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3 |
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], |
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"names": [ |
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"height", |
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"width", |
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"channel" |
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], |
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"video_info": { |
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"video.fps": 30.0, |
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"video.codec": "av1", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"has_audio": false |
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} |
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}, |
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"language_instruction": { |
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"dtype": "string", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"observation.state": { |
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"dtype": "float32", |
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"shape": [ |
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68 |
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], |
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"names": { |
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"motors": [ |
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"motor_0", |
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"motor_1", |
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"motor_2", |
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"motor_3", |
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"motor_4", |
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"motor_5", |
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"motor_6", |
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"motor_7", |
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"motor_8", |
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"motor_9", |
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"motor_10", |
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"motor_11", |
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"motor_12", |
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"motor_13", |
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"motor_14", |
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"motor_15", |
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"motor_16", |
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"motor_17", |
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"motor_18", |
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"motor_19", |
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"motor_20", |
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"motor_21", |
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"motor_22", |
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"motor_23", |
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"motor_24", |
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"motor_25", |
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"motor_26", |
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"motor_27", |
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"motor_28", |
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"motor_29", |
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"motor_30", |
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"motor_31", |
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"motor_32", |
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"motor_33", |
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"motor_34", |
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"motor_35", |
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"motor_36", |
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"motor_37", |
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"motor_38", |
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"motor_39", |
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"motor_40", |
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"motor_41", |
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"motor_42", |
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"motor_43", |
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"motor_44", |
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"motor_45", |
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"motor_46", |
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"motor_47", |
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"motor_48", |
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"motor_49", |
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"motor_50", |
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"motor_51", |
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"motor_52", |
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"motor_53", |
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"motor_54", |
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"motor_55", |
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"motor_56", |
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"motor_57", |
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"motor_58", |
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"motor_59", |
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"motor_60", |
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"motor_61", |
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"motor_62", |
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"motor_63", |
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"motor_64", |
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"motor_65", |
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"motor_66", |
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"motor_67" |
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] |
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} |
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}, |
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"action": { |
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"dtype": "float32", |
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"shape": [ |
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7 |
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], |
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"names": { |
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"motors": [ |
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"motor_0", |
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"motor_1", |
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"motor_2", |
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"motor_3", |
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"motor_4", |
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"motor_5", |
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"motor_6" |
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] |
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} |
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}, |
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"timestamp": { |
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"dtype": "float32", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"episode_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"frame_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"next.reward": { |
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"dtype": "float32", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"next.done": { |
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"dtype": "bool", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"task_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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} |
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} |
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} |
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``` |
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## Citation |
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**BibTeX:** |
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```bibtex |
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@misc{ConqHoseManipData, |
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author={Peter Mitrano and Dmitry Berenson}, |
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title={Conq Hose Manipulation Dataset, v1.15.0}, |
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year={2024}, |
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howpublished={https://sites.google.com/view/conq-hose-manipulation-dataset} |
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} |
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``` |
