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Datasets:
LSY-lab
/
stack_v2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
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+ ---
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+ license: apache-2.0
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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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+
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+ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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+
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+ ## Dataset Description
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+
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+
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+
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+ - **Homepage:** [More Information Needed]
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+ - **Paper:** [More Information Needed]
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+ - **License:** apache-2.0
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+
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+ ## Dataset Structure
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+
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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": "v2.1",
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+ "robot_type": "franka",
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+ "total_episodes": 47,
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+ "total_frames": 11168,
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+ "total_tasks": 1,
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+ "total_videos": 141,
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+ "total_chunks": 1,
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+ "chunks_size": 1000,
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+ "fps": 15,
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+ "splits": {
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+ "train": "0:47"
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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.primary": {
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+ "dtype": "video",
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+ "shape": [
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+ 256,
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+ 256,
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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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+ "channels"
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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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+ "info": {
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+ "video.height": 256,
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+ "video.width": 256,
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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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+ "video.fps": 15,
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+ "video.channels": 3,
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+ "has_audio": false
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+ }
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+ },
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+ "observation.images.tactile": {
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+ "dtype": "video",
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+ "shape": [
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+ 256,
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+ 256,
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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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+ "channels"
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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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+ "info": {
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+ "video.height": 256,
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+ "video.width": 256,
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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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+ "video.fps": 15,
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+ "video.channels": 3,
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+ "has_audio": false
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+ }
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+ },
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+ "observation.images.wrist": {
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+ "dtype": "video",
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+ "shape": [
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+ 256,
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+ 256,
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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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+ "channels"
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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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+ "info": {
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+ "video.height": 256,
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+ "video.width": 256,
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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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+ "video.fps": 15,
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+ "video.channels": 3,
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+ "has_audio": false
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+ }
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+ },
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+ "observation.state.cartesian": {
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+ "dtype": "float32",
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+ "shape": [
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+ 6
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+ ],
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+ "names": [
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+ "x",
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+ "y",
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+ "z",
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+ "roll",
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+ "pitch",
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+ "yaw"
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+ ]
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+ },
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+ "observation.state.gripper": {
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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": [
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+ "gripper"
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+ ]
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+ },
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+ "observation.state.joints": {
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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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+ "joint_0",
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+ "joint_1",
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+ "joint_2",
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+ "joint_3",
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+ "joint_4",
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+ "joint_5",
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+ "joint_6"
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+ ]
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+ },
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+ "observation.state.sensors_ft_sensor": {
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+ "dtype": "float32",
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+ "shape": [
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+ 6
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+ ],
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+ "names": [
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+ "sensors_ft_sensor_0",
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+ "sensors_ft_sensor_1",
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+ "sensors_ft_sensor_2",
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+ "sensors_ft_sensor_3",
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+ "sensors_ft_sensor_4",
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+ "sensors_ft_sensor_5"
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+ ]
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+ },
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+ "observation.state.sensors_tactile_sensor": {
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+ "dtype": "float32",
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+ "shape": [
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+ 15
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+ ],
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+ "names": [
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+ "sensors_tactile_sensor_0",
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+ "sensors_tactile_sensor_1",
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+ "sensors_tactile_sensor_2",
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+ "sensors_tactile_sensor_3",
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+ "sensors_tactile_sensor_4",
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+ "sensors_tactile_sensor_5",
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+ "sensors_tactile_sensor_6",
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+ "sensors_tactile_sensor_7",
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+ "sensors_tactile_sensor_8",
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+ "sensors_tactile_sensor_9",
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+ "sensors_tactile_sensor_10",
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+ "sensors_tactile_sensor_11",
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+ "sensors_tactile_sensor_12",
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+ "sensors_tactile_sensor_13",
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+ "sensors_tactile_sensor_14"
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+ ]
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+ },
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+ "observation.state.target": {
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+ "dtype": "float32",
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+ "shape": [
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+ 6
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+ ],
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+ "names": [
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+ "target_x",
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+ "target_y",
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+ "target_z",
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+ "target_roll",
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+ "target_pitch",
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+ "target_yaw"
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+ ]
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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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+ 41
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+ ],
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+ "names": [
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+ "x",
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+ "y",
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+ "z",
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+ "roll",
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+ "pitch",
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+ "yaw",
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+ "gripper",
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+ "joint_0",
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+ "joint_1",
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+ "joint_2",
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+ "joint_3",
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+ "joint_4",
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+ "joint_5",
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+ "joint_6",
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+ "sensors_ft_sensor_0",
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+ "sensors_ft_sensor_1",
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+ "sensors_ft_sensor_2",
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+ "sensors_ft_sensor_3",
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+ "sensors_ft_sensor_4",
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+ "sensors_ft_sensor_5",
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+ "sensors_tactile_sensor_0",
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+ "sensors_tactile_sensor_1",
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+ "sensors_tactile_sensor_2",
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+ "sensors_tactile_sensor_3",
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+ "sensors_tactile_sensor_4",
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+ "sensors_tactile_sensor_5",
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+ "sensors_tactile_sensor_6",
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+ "sensors_tactile_sensor_7",
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+ "sensors_tactile_sensor_8",
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+ "sensors_tactile_sensor_9",
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+ "sensors_tactile_sensor_10",
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+ "sensors_tactile_sensor_11",
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+ "sensors_tactile_sensor_12",
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+ "sensors_tactile_sensor_13",
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+ "sensors_tactile_sensor_14",
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+ "target_x",
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+ "target_y",
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+ "target_z",
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+ "target_roll",
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+ "target_pitch",
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+ "target_yaw"
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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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+ "x",
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+ "y",
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+ "z",
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+ "roll",
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+ "pitch",
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+ "yaw",
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+ "gripper"
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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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+ "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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+ "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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+ "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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+
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+
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+ ## Citation
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+
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+ **BibTeX:**
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+
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+ ```bibtex
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+ [More Information Needed]
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+ ```