---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
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:** apache-2.0

## Dataset Structure

[meta/info.json](meta/info.json):
```json
{
    "codebase_version": "v2.1",
    "robot_type": "robomimic",
    "total_episodes": 5,
    "total_frames": 1584,
    "total_tasks": 1,
    "total_videos": 15,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 20,
    "splits": {
        "train": "0:5"
    },
    "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": {
        "action": {
            "dtype": "float32",
            "shape": [
                24
            ],
            "names": [
                "action_0",
                "action_1",
                "action_2",
                "action_3",
                "action_4",
                "action_5",
                "action_6",
                "action_7",
                "action_8",
                "action_9",
                "action_10",
                "action_11",
                "action_12",
                "action_13",
                "action_14",
                "action_15",
                "action_16",
                "action_17",
                "action_18",
                "action_19",
                "action_20",
                "action_21",
                "action_22",
                "action_23"
            ]
        },
        "next.done": {
            "dtype": "bool",
            "shape": [
                1
            ],
            "names": [
                "done"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                36
            ],
            "names": [
                "robot0_left_eef_pos_0",
                "robot0_left_eef_pos_1",
                "robot0_left_eef_pos_2",
                "robot0_left_eef_quat_0",
                "robot0_left_eef_quat_1",
                "robot0_left_eef_quat_2",
                "robot0_left_eef_quat_3",
                "robot0_left_gripper_qpos_0",
                "robot0_left_gripper_qpos_1",
                "robot0_left_gripper_qpos_2",
                "robot0_left_gripper_qpos_3",
                "robot0_left_gripper_qpos_4",
                "robot0_left_gripper_qpos_5",
                "robot0_left_gripper_qpos_6",
                "robot0_left_gripper_qpos_7",
                "robot0_left_gripper_qpos_8",
                "robot0_left_gripper_qpos_9",
                "robot0_left_gripper_qpos_10",
                "robot0_right_eef_pos_0",
                "robot0_right_eef_pos_1",
                "robot0_right_eef_pos_2",
                "robot0_right_eef_quat_0",
                "robot0_right_eef_quat_1",
                "robot0_right_eef_quat_2",
                "robot0_right_eef_quat_3",
                "robot0_right_gripper_qpos_0",
                "robot0_right_gripper_qpos_1",
                "robot0_right_gripper_qpos_2",
                "robot0_right_gripper_qpos_3",
                "robot0_right_gripper_qpos_4",
                "robot0_right_gripper_qpos_5",
                "robot0_right_gripper_qpos_6",
                "robot0_right_gripper_qpos_7",
                "robot0_right_gripper_qpos_8",
                "robot0_right_gripper_qpos_9",
                "robot0_right_gripper_qpos_10"
            ]
        },
        "observation.images.agentview": {
            "dtype": "video",
            "shape": [
                84,
                84,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 84,
                "video.width": 84,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.robot0_eye_in_left_hand": {
            "dtype": "video",
            "shape": [
                84,
                84,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 84,
                "video.width": 84,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.robot0_eye_in_right_hand": {
            "dtype": "video",
            "shape": [
                84,
                84,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 84,
                "video.width": 84,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "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]
```