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Datasets:
lerobot
/
droid_1.0.1

Tasks:
Robotics
Modalities:
Tabular
Text
Video
Formats:
parquet
Size:
10M - 100M
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": "v3.0",
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+ "robot_type": "Franka",
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+ "total_episodes": 95617,
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+ "total_frames": 27618651,
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+ "total_tasks": 49611,
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+ "chunks_size": 1000,
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+ "data_files_size_in_mb": 100,
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+ "video_files_size_in_mb": 500,
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+ "fps": 15,
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+ "splits": {
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+ "train": "0:95617"
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+ },
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+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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+ "features": {
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+ "is_first": {
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+ "dtype": "bool",
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+ "shape": [
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+ 1
46
+ ],
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+ "names": null
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+ },
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+ "is_last": {
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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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+ "is_terminal": {
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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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+ "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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+ "language_instruction_2": {
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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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+ "language_instruction_3": {
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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.gripper_position": {
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+ "dtype": "float32",
86
+ "shape": [
87
+ 1
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+ ],
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+ "names": {
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+ "axes": [
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+ "gripper"
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+ ]
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+ }
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+ },
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+ "observation.state.cartesian_position": {
96
+ "dtype": "float32",
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+ "shape": [
98
+ 6
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+ ],
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+ "names": {
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+ "axes": [
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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",
107
+ "yaw"
108
+ ]
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+ }
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+ },
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+ "observation.state.joint_position": {
112
+ "dtype": "float32",
113
+ "shape": [
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+ 7
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+ ],
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+ "names": {
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+ "axes": [
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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",
124
+ "joint_6"
125
+ ]
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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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+ 8
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+ ],
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+ "names": {
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+ "axes": [
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+ "joint_0",
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+ "joint_1",
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+ "joint_2",
138
+ "joint_3",
139
+ "joint_4",
140
+ "joint_5",
141
+ "joint_6",
142
+ "gripper"
143
+ ]
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+ }
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+ },
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+ "observation.images.wrist_left": {
147
+ "dtype": "video",
148
+ "shape": [
149
+ 180,
150
+ 320,
151
+ 3
152
+ ],
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+ "names": [
154
+ "height",
155
+ "width",
156
+ "channels"
157
+ ],
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+ "info": {
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+ "video.fps": 15.0,
160
+ "video.height": 180,
161
+ "video.width": 320,
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+ "video.channels": 3,
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+ "video.codec": "av1",
164
+ "video.pix_fmt": "yuv420p",
165
+ "video.is_depth_map": false,
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+ "has_audio": false
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+ }
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+ },
169
+ "observation.images.exterior_1_left": {
170
+ "dtype": "video",
171
+ "shape": [
172
+ 180,
173
+ 320,
174
+ 3
175
+ ],
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+ "names": [
177
+ "height",
178
+ "width",
179
+ "channels"
180
+ ],
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+ "info": {
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+ "video.fps": 15.0,
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+ "video.height": 180,
184
+ "video.width": 320,
185
+ "video.channels": 3,
186
+ "video.codec": "av1",
187
+ "video.pix_fmt": "yuv420p",
188
+ "video.is_depth_map": false,
189
+ "has_audio": false
190
+ }
191
+ },
192
+ "observation.images.exterior_2_left": {
193
+ "dtype": "video",
194
+ "shape": [
195
+ 180,
196
+ 320,
197
+ 3
198
+ ],
199
+ "names": [
200
+ "height",
201
+ "width",
202
+ "channels"
203
+ ],
204
+ "info": {
205
+ "video.fps": 15.0,
206
+ "video.height": 180,
207
+ "video.width": 320,
208
+ "video.channels": 3,
209
+ "video.codec": "av1",
210
+ "video.pix_fmt": "yuv420p",
211
+ "video.is_depth_map": false,
212
+ "has_audio": false
213
+ }
214
+ },
215
+ "action.gripper_position": {
216
+ "dtype": "float32",
217
+ "shape": [
218
+ 1
219
+ ],
220
+ "names": {
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+ "axes": [
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+ "gripper"
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+ ]
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+ }
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+ },
226
+ "action.gripper_velocity": {
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+ "dtype": "float32",
228
+ "shape": [
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+ 1
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+ ],
231
+ "names": {
232
+ "axes": [
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+ "gripper"
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+ ]
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+ }
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+ },
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+ "action.cartesian_position": {
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+ "dtype": "float32",
239
+ "shape": [
240
+ 6
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+ ],
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+ "names": {
243
+ "axes": [
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+ "x",
245
+ "y",
246
+ "z",
247
+ "roll",
248
+ "pitch",
249
+ "yaw"
250
+ ]
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+ }
252
+ },
253
+ "action.cartesian_velocity": {
254
+ "dtype": "float32",
255
+ "shape": [
256
+ 6
257
+ ],
258
+ "names": {
259
+ "axes": [
260
+ "x",
261
+ "y",
262
+ "z",
263
+ "roll",
264
+ "pitch",
265
+ "yaw"
266
+ ]
267
+ }
268
+ },
269
+ "action.joint_position": {
270
+ "dtype": "float32",
271
+ "shape": [
272
+ 7
273
+ ],
274
+ "names": {
275
+ "axes": [
276
+ "joint_0",
277
+ "joint_1",
278
+ "joint_2",
279
+ "joint_3",
280
+ "joint_4",
281
+ "joint_5",
282
+ "joint_6"
283
+ ]
284
+ }
285
+ },
286
+ "action.joint_velocity": {
287
+ "dtype": "float32",
288
+ "shape": [
289
+ 7
290
+ ],
291
+ "names": {
292
+ "axes": [
293
+ "joint_0",
294
+ "joint_1",
295
+ "joint_2",
296
+ "joint_3",
297
+ "joint_4",
298
+ "joint_5",
299
+ "joint_6"
300
+ ]
301
+ }
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+ },
303
+ "action.original": {
304
+ "dtype": "float32",
305
+ "shape": [
306
+ 7
307
+ ],
308
+ "names": {
309
+ "axes": [
310
+ "x",
311
+ "y",
312
+ "z",
313
+ "roll",
314
+ "pitch",
315
+ "yaw",
316
+ "gripper"
317
+ ]
318
+ }
319
+ },
320
+ "action": {
321
+ "dtype": "float32",
322
+ "shape": [
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+ 8
324
+ ],
325
+ "names": {
326
+ "axes": [
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+ "joint_0",
328
+ "joint_1",
329
+ "joint_2",
330
+ "joint_3",
331
+ "joint_4",
332
+ "joint_5",
333
+ "joint_6",
334
+ "gripper"
335
+ ]
336
+ }
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+ },
338
+ "discount": {
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+ "dtype": "float32",
340
+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "reward": {
346
+ "dtype": "float32",
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+ "shape": [
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+ 1
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+ ],
350
+ "names": null
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+ },
352
+ "task_category": {
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+ "dtype": "string",
354
+ "shape": [
355
+ 1
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+ ],
357
+ "names": null
358
+ },
359
+ "building": {
360
+ "dtype": "string",
361
+ "shape": [
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+ 1
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+ ],
364
+ "names": null
365
+ },
366
+ "collector_id": {
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+ "dtype": "string",
368
+ "shape": [
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+ 1
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+ ],
371
+ "names": null
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+ },
373
+ "date": {
374
+ "dtype": "string",
375
+ "shape": [
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+ 1
377
+ ],
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+ "names": null
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+ },
380
+ "camera_extrinsics.wrist_left": {
381
+ "dtype": "float32",
382
+ "shape": [
383
+ 6
384
+ ],
385
+ "names": {
386
+ "axes": [
387
+ "x",
388
+ "y",
389
+ "z",
390
+ "roll",
391
+ "pitch",
392
+ "yaw"
393
+ ]
394
+ }
395
+ },
396
+ "camera_extrinsics.exterior_1_left": {
397
+ "dtype": "float32",
398
+ "shape": [
399
+ 6
400
+ ],
401
+ "names": {
402
+ "axes": [
403
+ "x",
404
+ "y",
405
+ "z",
406
+ "roll",
407
+ "pitch",
408
+ "yaw"
409
+ ]
410
+ }
411
+ },
412
+ "camera_extrinsics.exterior_2_left": {
413
+ "dtype": "float32",
414
+ "shape": [
415
+ 6
416
+ ],
417
+ "names": {
418
+ "axes": [
419
+ "x",
420
+ "y",
421
+ "z",
422
+ "roll",
423
+ "pitch",
424
+ "yaw"
425
+ ]
426
+ }
427
+ },
428
+ "is_episode_successful": {
429
+ "dtype": "bool",
430
+ "shape": [
431
+ 1
432
+ ],
433
+ "names": null
434
+ },
435
+ "timestamp": {
436
+ "dtype": "float32",
437
+ "shape": [
438
+ 1
439
+ ],
440
+ "names": null
441
+ },
442
+ "frame_index": {
443
+ "dtype": "int64",
444
+ "shape": [
445
+ 1
446
+ ],
447
+ "names": null
448
+ },
449
+ "episode_index": {
450
+ "dtype": "int64",
451
+ "shape": [
452
+ 1
453
+ ],
454
+ "names": null
455
+ },
456
+ "index": {
457
+ "dtype": "int64",
458
+ "shape": [
459
+ 1
460
+ ],
461
+ "names": null
462
+ },
463
+ "task_index": {
464
+ "dtype": "int64",
465
+ "shape": [
466
+ 1
467
+ ],
468
+ "names": null
469
+ }
470
+ }
471
+ }
472
+ ```
473
+
474
+
475
+ ## Citation
476
+
477
+ **BibTeX:**
478
+
479
+ ```bibtex
480
+ [More Information Needed]
481
+ ```