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Datasets:
cadene
/
agibot_alpha_v30

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:
8
+ - 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": "AgiBot_A2D",
29
+ "total_episodes": 28122,
30
+ "total_frames": 47613574,
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+ "total_tasks": 30,
32
+ "chunks_size": 1000,
33
+ "data_files_size_in_mb": 100,
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+ "video_files_size_in_mb": 500,
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+ "fps": 30,
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+ "splits": {
37
+ "train": "0:28122"
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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",
41
+ "features": {
42
+ "observation.state.effector.position": {
43
+ "dtype": "float32",
44
+ "shape": [
45
+ 2
46
+ ],
47
+ "names": {
48
+ "axes": [
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+ "left_gripper",
50
+ "right_gripper"
51
+ ]
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+ }
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+ },
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+ "observation.state.end.position": {
55
+ "dtype": "float32",
56
+ "shape": [
57
+ 6
58
+ ],
59
+ "names": {
60
+ "axes": [
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+ "left_x",
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+ "left_y",
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+ "left_z",
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+ "right_x",
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+ "right_y",
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+ "right_z"
67
+ ]
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+ }
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+ },
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+ "observation.state.end.orientation": {
71
+ "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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+ "left_x",
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+ "left_y",
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+ "left_z",
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+ "left_w",
81
+ "right_x",
82
+ "right_y",
83
+ "right_z",
84
+ "right_w"
85
+ ]
86
+ }
87
+ },
88
+ "observation.state.head.position": {
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+ "dtype": "float32",
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+ "shape": [
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+ 2
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+ ],
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+ "names": {
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+ "axes": [
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+ "yaw",
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+ "pitch"
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+ ]
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+ }
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+ },
100
+ "observation.state.joint.current_value": {
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+ "dtype": "float32",
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+ "shape": [
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+ 14
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+ ],
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+ "names": {
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+ "axes": [
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+ "left_joint_0",
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+ "left_joint_1",
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+ "left_joint_2",
110
+ "left_joint_3",
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+ "left_joint_4",
112
+ "left_joint_5",
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+ "left_joint_6",
114
+ "right_joint_0",
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+ "right_joint_1",
116
+ "right_joint_2",
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+ "right_joint_3",
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+ "right_joint_4",
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+ "right_joint_5",
120
+ "right_joint_6"
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+ ]
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+ }
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+ },
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+ "observation.state.joint.position": {
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+ "dtype": "float32",
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+ "shape": [
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+ 14
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+ ],
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+ "names": {
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+ "axes": [
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+ "left_joint_0",
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+ "left_joint_1",
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+ "left_joint_2",
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+ "left_joint_3",
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+ "left_joint_4",
136
+ "left_joint_5",
137
+ "left_joint_6",
138
+ "right_joint_0",
139
+ "right_joint_1",
140
+ "right_joint_2",
141
+ "right_joint_3",
142
+ "right_joint_4",
143
+ "right_joint_5",
144
+ "right_joint_6"
145
+ ]
146
+ }
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+ },
148
+ "observation.state.waist.position": {
149
+ "dtype": "float32",
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+ "shape": [
151
+ 2
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+ ],
153
+ "names": {
154
+ "axes": [
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+ "pitch",
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+ "lift"
157
+ ]
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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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+ 20
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+ ],
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+ "names": {
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+ "axes": [
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+ "head_yaw",
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+ "head_pitch",
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+ "left_joint_0",
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+ "left_joint_1",
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+ "left_joint_2",
172
+ "left_joint_3",
173
+ "left_joint_4",
174
+ "left_joint_5",
175
+ "left_joint_6",
176
+ "left_gripper",
177
+ "right_joint_0",
178
+ "right_joint_1",
179
+ "right_joint_2",
180
+ "right_joint_3",
181
+ "right_joint_4",
182
+ "right_joint_5",
183
+ "right_joint_6",
184
+ "right_gripper",
185
+ "waist_pitch",
186
+ "waist_lift"
187
+ ]
188
+ }
189
+ },
190
+ "action.effector.position": {
191
+ "dtype": "float32",
192
+ "shape": [
193
+ 2
194
+ ],
195
+ "names": {
196
+ "axes": [
197
+ "left_gripper",
198
+ "right_gripper"
199
+ ]
200
+ }
201
+ },
202
+ "action.end.position": {
203
+ "dtype": "float32",
204
+ "shape": [
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+ 6
206
+ ],
207
+ "names": {
208
+ "axes": [
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+ "left_x",
210
+ "left_y",
211
+ "left_z",
212
+ "right_x",
213
+ "right_y",
214
+ "right_z"
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+ ]
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+ }
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+ },
218
+ "action.end.orientation": {
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+ "dtype": "float32",
220
+ "shape": [
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+ 8
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+ ],
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+ "names": {
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+ "axes": [
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+ "left_x",
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+ "left_y",
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+ "left_z",
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+ "left_w",
229
+ "right_x",
230
+ "right_y",
231
+ "right_z",
232
+ "right_w"
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+ ]
234
+ }
235
+ },
236
+ "action.head.position": {
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+ "dtype": "float32",
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+ "shape": [
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+ 2
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+ ],
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+ "names": {
242
+ "axes": [
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+ "yaw",
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+ "pitch"
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+ ]
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+ }
247
+ },
248
+ "action.joint.position": {
249
+ "dtype": "float32",
250
+ "shape": [
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+ 14
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+ ],
253
+ "names": {
254
+ "axes": [
255
+ "left_joint_0",
256
+ "left_joint_1",
257
+ "left_joint_2",
258
+ "left_joint_3",
259
+ "left_joint_4",
260
+ "left_joint_5",
261
+ "left_joint_6",
262
+ "right_joint_0",
263
+ "right_joint_1",
264
+ "right_joint_2",
265
+ "right_joint_3",
266
+ "right_joint_4",
267
+ "right_joint_5",
268
+ "right_joint_6"
269
+ ]
270
+ }
271
+ },
272
+ "action.robot.velocity": {
273
+ "dtype": "float32",
274
+ "shape": [
275
+ 2
276
+ ],
277
+ "names": {
278
+ "axes": [
279
+ "velocity_x",
280
+ "yaw_rate"
281
+ ]
282
+ }
283
+ },
284
+ "action.waist.position": {
285
+ "dtype": "float32",
286
+ "shape": [
287
+ 2
288
+ ],
289
+ "names": {
290
+ "axes": [
291
+ "pitch",
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+ "lift"
293
+ ]
294
+ }
295
+ },
296
+ "action": {
297
+ "dtype": "float32",
298
+ "shape": [
299
+ 22
300
+ ],
301
+ "names": {
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+ "axes": [
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+ "head_yaw",
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+ "head_pitch",
305
+ "left_joint_0",
306
+ "left_joint_1",
307
+ "left_joint_2",
308
+ "left_joint_3",
309
+ "left_joint_4",
310
+ "left_joint_5",
311
+ "left_joint_6",
312
+ "left_gripper",
313
+ "right_joint_0",
314
+ "right_joint_1",
315
+ "right_joint_2",
316
+ "right_joint_3",
317
+ "right_joint_4",
318
+ "right_joint_5",
319
+ "right_joint_6",
320
+ "right_gripper",
321
+ "waist_pitch",
322
+ "waist_lift",
323
+ "velocity_x",
324
+ "yaw_rate"
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+ ]
326
+ }
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+ },
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+ "init_scene_text": {
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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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+ "action_text": {
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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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+ "skill": {
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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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+ "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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+ "observation.images.top_head": {
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+ "dtype": "video",
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+ "shape": [
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+ 480,
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+ 640,
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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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+ "channel"
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+ ]
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+ },
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+ "observation.images.hand_left": {
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+ "dtype": "video",
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+ "shape": [
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+ 480,
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+ 640,
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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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+ "channel"
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+ ]
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+ },
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+ "observation.images.hand_right": {
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+ "dtype": "video",
412
+ "shape": [
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+ 480,
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+ 640,
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+ 3
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+ ],
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+ "names": [
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+ "height",
419
+ "width",
420
+ "channel"
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+ ]
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+ },
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+ "observation.images.head_center_fisheye": {
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+ "dtype": "video",
425
+ "shape": [
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+ 748,
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+ 960,
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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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+ "channel"
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+ ]
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+ },
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+ "observation.images.head_left_fisheye": {
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+ "dtype": "video",
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+ "shape": [
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+ 748,
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+ 960,
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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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+ "channel"
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+ ]
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+ },
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+ "observation.images.head_right_fisheye": {
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+ "dtype": "video",
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+ "shape": [
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+ 748,
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+ 960,
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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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+ "channel"
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+ ]
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+ },
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+ "observation.images.back_left_fisheye": {
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+ "dtype": "video",
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+ "shape": [
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+ 748,
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+ 960,
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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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+ "channel"
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+ ]
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+ },
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+ "observation.images.back_right_fisheye": {
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+ "dtype": "video",
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+ "shape": [
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+ 748,
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+ 960,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
485
+ "channel"
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+ ]
487
+ }
488
+ }
489
+ }
490
+ ```
491
+
492
+
493
+ ## Citation
494
+
495
+ **BibTeX:**
496
+
497
+ ```bibtex
498
+ [More Information Needed]
499
+ ```