aryannzzz/act-pick-place-v3
Robotics • Updated • 7
Search is not available for this dataset
observation.image imagewidth (px) 480 480 | observation.state list | observation.environment_state list | action list | task_id int16 40 40 | timestamp float32 0 0.94 | frame_index int64 0 75 | episode_index int64 0 49 | index int64 0 2.37k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Description
NOTE:
All expert trajectories (100% success rate)
50 total episodes
Camera view: 3rd-person Corner2 only out of ["corner", "corner2", "corner3", "topview", "behindGripper"]
Generator script can be found here: https://github.com/aadarshram/lerobot/blob/MultiTask/src/lerobot/scripts/generate_MetaWorld_datasets.py
Homepage: [More Information Needed]
Paper: [More Information Needed]
License: apache-2.0
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "metaworld",
"total_episodes": 50,
"total_frames": 2370,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 80,
"splits": {
"train": "0:50"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
"observation.image": {
"dtype": "image",
"shape": [
480,
480,
3
],
"names": [
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"width",
"channels"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
4
],
"names": {
"axes": [
"x",
"y",
"z",
"gripper"
]
}
},
"observation.environment_state": {
"dtype": "float32",
"shape": [
39
],
"names": [
"keypoints"
]
},
"action": {
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"shape": [
4
],
"names": {
"axes": [
"x",
"y",
"z",
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]
}
},
"task_id": {
"dtype": "int16",
"shape": [
1
],
"names": null
},
"timestamp": {
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],
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},
"frame_index": {
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],
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},
"episode_index": {
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],
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},
"index": {
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},
"task_index": {
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"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
[More Information Needed]
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