license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
data_files: data/*/*.parquet
This dataset was created using LeRobot.
Dataset Description
Homepage: [More Information Needed]
Paper: [More Information Needed]
License: apache-2.0
Task Objective: Place the OAK-D-LITE camera into the mounting case and secure the lid.
Operational Objects: An OAK-D-LITE camera along with its original complete packaging (Purchase link: [【淘宝】7天无理由退货 https://e.tb.cn/h.606wnDDmrTMhcch?tk=Dr7feJHVOyp CZ009 「OpenCV AI视觉套件 OAK-D-Lite智能开发 深度摄像头RGB高清相机」点击链接直接打开 或者 淘宝搜索直接打开])
Operation Duration: Each operation takes approximately 40 seconds.
Recording Frequency: 30 Hz.
Robot Type: 7-DOF dual-arm G1 robot.
End Effector: Three-fingered dexterous hands.
Dual-Arm Operation: Yes.
Image Resolution: 640x480.
Camera Positions: Wrist-mounted (monocular camera) + head-mounted (binocular cameras).
Data Content:
• Robot's current state.
• Robot's next action.
• Current camera view images.Robot Initial Posture: The first robot state in each dataset entry.
Object Placement: PPosition the camera case at the midpoint between the robot's arms in their initial state (arms vertical), 20cm away from the inner edge of the table's wall (robot-facing side). Place the camera on the right side of the case, and position the lid on the left side of the case.
Camera View: Follow the guidelines in Part 5 of AVP Teleoperation Documentation.
Important Notes:
- Due to the inability to precisely describe spatial positions, adjust the scene to closely match the first frame of the dataset after installing the hardware as specified in Part 5 of AVP Teleoperation Documentation.
- Data collection is not completed in a single session, and variations between data entries exist. Ensure these variations are accounted for during model training.
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "Unitree_G1",
"total_episodes": 351,
"total_frames": 389708,
"total_tasks": 1,
"total_videos": 1404,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:351"
},
"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.state": {
"dtype": "float32",
"shape": [
16
],
"names": [
[
"kLeftShoulderPitch",
"kLeftShoulderRoll",
"kLeftShoulderYaw",
"kLeftElbow",
"kLeftWristRoll",
"kLeftWristPitch",
"kLeftWristyaw",
"kRightShoulderPitch",
"kRightShoulderRoll",
"kRightShoulderYaw",
"kRightElbow",
"kRightWristRoll",
"kRightWristPitch",
"kRightWristYaw",
"kLeftGripper",
"kRightGripper"
]
]
},
"action": {
"dtype": "float32",
"shape": [
16
],
"names": [
[
"kLeftShoulderPitch",
"kLeftShoulderRoll",
"kLeftShoulderYaw",
"kLeftElbow",
"kLeftWristRoll",
"kLeftWristPitch",
"kLeftWristyaw",
"kRightShoulderPitch",
"kRightShoulderRoll",
"kRightShoulderYaw",
"kRightElbow",
"kRightWristRoll",
"kRightWristPitch",
"kRightWristYaw",
"kLeftGripper",
"kRightGripper"
]
]
},
"observation.images.cam_left_high": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_right_high": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_left_wrist": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_right_wrist": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"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:
[More Information Needed]