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lerobot
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conq_hose_manipulation

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
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@@ -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
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  {
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  "codebase_version": "v2.0",
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- "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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  "robot_type": "unknown",
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  "total_episodes": 139,
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  "total_frames": 8277,
@@ -22,148 +36,234 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
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  "splits": {
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  "train": "0:139"
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  },
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- "keys": [
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- "observation.state",
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- "action"
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- ],
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- "video_keys": [
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- "observation.images.frontright_fisheye_image",
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- "observation.images.hand_color_image",
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- "observation.images.frontleft_fisheye_image"
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- ],
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- "image_keys": [],
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- "shapes": {
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- "observation.state": 68,
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- "action": 7,
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  "observation.images.frontright_fisheye_image": {
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- "width": 604,
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- "height": 726,
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- "channels": 3
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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  },
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  "observation.images.hand_color_image": {
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- "width": 640,
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- "height": 480,
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- "channels": 3
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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  },
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  "observation.images.frontleft_fisheye_image": {
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- "width": 604,
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- "height": 726,
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- "channels": 3
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- }
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- },
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- "names": {
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- "motor_0",
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- "motor_1",
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- "motor_2",
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- "motor_18",
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- "motor_19",
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- "motor_20",
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- "motor_24",
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- "motor_25",
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- "motor_26",
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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_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_47",
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- "motor_48",
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- "motor_49",
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- "motor_50",
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- "motor_55",
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- "motor_64",
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- "motor_65",
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- "motor_66",
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- ],
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- "action": [
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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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- "videos": {
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- "videos_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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- "observation.images.frontright_fisheye_image": {
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- "video.width": 604,
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- "video.channels": 3,
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- "video.pix_fmt": "yuv420p",
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  },
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- "observation.images.hand_color_image": {
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- "video.fps": 30.0,
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- "video.width": 640,
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- "video.height": 480,
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- "video.channels": 3,
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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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  },
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- "video.fps": 30.0,
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- "video.width": 604,
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- "video.height": 726,
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- "video.channels": 3,
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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
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
166
  }
167
  }
168
  }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
169
  ```
 
1
  ---
2
+ license: mit
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/conq-hose-manipulation-dataset/home
19
+ - **Paper:** [More Information Needed]
20
+ - **License:** mit
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": 139,
30
  "total_frames": 8277,
 
36
  "splits": {
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  "train": "0:139"
38
  },
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+ "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",
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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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+ 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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  }
253
  }
254
  }
255
+ ```
256
+
257
+
258
+ ## Citation
259
+
260
+ **BibTeX:**
261
+
262
+ ```bibtex
263
+ @misc{ConqHoseManipData,
264
+ author={Peter Mitrano and Dmitry Berenson},
265
+ title={Conq Hose Manipulation Dataset, v1.15.0},
266
+ year={2024},
267
+ howpublished={https://sites.google.com/view/conq-hose-manipulation-dataset}
268
+ }
269
  ```