LIBERO lerobot format (mask, depth)
Collection
LIBERO dataset includes masks and depth maps converted to the LeRobot format.
•
8 items
•
Updated
Datasets:
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observation.images.image
imagewidth (px) 256
256
| observation.images.wrist_image
imagewidth (px) 256
256
| observation.images.image_mask
imagewidth (px) 256
256
| observation.images.wrist_mask
imagewidth (px) 256
256
| observation.state
sequence | action
sequence | observation.images.object_of_interest_mask
imagewidth (px) 256
256
| observation.images.object_of_interest_wrist_mask
imagewidth (px) 256
256
| observation.images.image_depth
imagewidth (px) 256
256
| observation.images.wrist_depth
imagewidth (px) 256
256
| timestamp
float32 0
22.3
| frame_index
int64 0
223
| episode_index
int64 0
201
| index
int64 0
31.3k
| task_index
int64 0
4
|
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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] | 8.1 | 81 | 0 | 81 | 0 |
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in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 500,
"total_frames": 74507,
"total_tasks": 10,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:500"
},
"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": {
"observation.images.image": {
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"shape": [
256,
256,
3
],
"names": [
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"channel"
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},
"observation.images.wrist_image": {
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"shape": [
256,
256,
3
],
"names": [
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"width",
"channel"
]
},
"observation.images.image_mask": {
"dtype": "image",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
]
},
"observation.images.wrist_mask": {
"dtype": "image",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
8
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"names": [
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]
},
"action": {
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"shape": [
7
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"names": [
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},
"observation.images.object_of_interest_mask": {
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"shape": [
256,
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],
"names": [
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},
"observation.images.object_of_interest_wrist_mask": {
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"shape": [
256,
256,
3
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"names": [
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"channel"
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},
"observation.images.image_depth": {
"dtype": "image",
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256,
256,
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],
"names": [
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"width",
"channel"
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},
"observation.images.wrist_depth": {
"dtype": "image",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
]
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
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],
"names": null
},
"task_index": {
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"names": null
}
}
}
Citation
BibTeX:
[More Information Needed]
- Downloads last month
- 107
License:
apache-2.0
Size of downloaded dataset files:
12 GB
Size of the auto-converted Parquet files:
12 GB
Number of rows:
74,507