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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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This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
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## Dataset Description |
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This dataset contains 50 demonstrations per task from the Meta-world simulation benchmarks. Demonstrations are generated using expert policies. |
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Meta-world: https://arxiv.org/abs/1910.10897 |
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We reposition the camera and flip the rendered images as follow: |
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```env.model.cam_pos[2] = [0.75, 0.075, 0.7] |
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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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## Dataset Structure |
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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": "v2.0", |
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"robot_type": "metaworld", |
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"total_episodes": 2500, |
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"total_frames": 204806, |
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"total_tasks": 49, |
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"total_videos": 0, |
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"total_chunks": 3, |
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"chunks_size": 1000, |
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"fps": 80, |
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"splits": { |
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"train": "0:2500" |
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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.state": { |
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"dtype": "float32", |
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"shape": [ |
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4 |
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], |
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"names": { |
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"axes": null |
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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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4 |
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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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"gripper" |
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] |
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} |
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}, |
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"next.reward": { |
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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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"next.success": { |
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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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"observation.environment_state": { |
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"dtype": "float32", |
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"shape": [ |
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39 |
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], |
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"names": [ |
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"keypoints" |
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] |
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}, |
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"observation.image": { |
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"dtype": "image", |
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"shape": [ |
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3, |
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480, |
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480 |
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], |
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"names": [ |
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"channels", |
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"height", |
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"width" |
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] |
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}, |
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"task_id": { |
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"dtype": "int16", |
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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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"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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## Citation |
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**BibTeX:** |
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```bibtex |
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[More Information Needed] |
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``` |
