---
license: mit
task_categories:
- robotics
tags:
- LeRobot
- calvin
- franka
- manipulation
- language-conditioned
configs:
- config_name: default
  data_files: data/*/*.parquet
---

This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).

## Dataset Description



- **Homepage:** [More Information Needed]
- **Paper:** [More Information Needed]
- **License:** mit

## Dataset Structure

[meta/info.json](meta/info.json):
```json
{
    "codebase_version": "v2.1",
    "robot_type": "franka",
    "total_episodes": 9,
    "total_frames": 503,
    "total_tasks": 9,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:9"
    },
    "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.rgb_static": {
            "dtype": "image",
            "shape": [
                200,
                200,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "observation.images.rgb_gripper": {
            "dtype": "image",
            "shape": [
                84,
                84,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                15
            ],
            "names": [
                "state"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "action"
            ]
        },
        "observation.images.depth_static": {
            "dtype": "image",
            "shape": [
                200,
                200,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "observation.images.depth_gripper": {
            "dtype": "image",
            "shape": [
                84,
                84,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "observation.tactile.rgb": {
            "dtype": "float32",
            "shape": [
                160,
                120,
                6
            ],
            "names": [
                "channel",
                "height",
                "width"
            ]
        },
        "observation.tactile.depth": {
            "dtype": "float32",
            "shape": [
                160,
                120,
                2
            ],
            "names": [
                "channel",
                "height",
                "width"
            ]
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}
```


## Citation

**BibTeX:**

```bibtex
[More Information Needed]
```