| --- |
| license: mit |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
|
|
| ## Dataset Description |
|
|
|
|
|
|
| - **Homepage:** https://sites.google.com/view/hydra-il-2023 |
| - **Paper:** https://arxiv.org/abs/2306.17237 |
| - **License:** mit |
|
|
| ## Dataset Structure |
|
|
| [meta/info.json](meta/info.json): |
| ```json |
| { |
| "codebase_version": "v2.0", |
| "robot_type": "unknown", |
| "total_episodes": 570, |
| "total_frames": 358234, |
| "total_tasks": 3, |
| "total_videos": 1140, |
| "total_chunks": 1, |
| "chunks_size": 1000, |
| "fps": 10, |
| "splits": { |
| "train": "0:570" |
| }, |
| "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": { |
| "dtype": "video", |
| "shape": [ |
| 240, |
| 320, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "video_info": { |
| "video.fps": 10.0, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.images.wrist_image": { |
| "dtype": "video", |
| "shape": [ |
| 240, |
| 320, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "video_info": { |
| "video.fps": 10.0, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "language_instruction": { |
| "dtype": "string", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 8 |
| ], |
| "names": { |
| "motors": [ |
| "motor_0", |
| "motor_1", |
| "motor_2", |
| "motor_3", |
| "motor_4", |
| "motor_5", |
| "motor_6", |
| "motor_7" |
| ] |
| } |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": { |
| "motors": [ |
| "motor_0", |
| "motor_1", |
| "motor_2", |
| "motor_3", |
| "motor_4", |
| "motor_5", |
| "motor_6" |
| ] |
| } |
| }, |
| "timestamp": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "episode_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "frame_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "next.reward": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "next.done": { |
| "dtype": "bool", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "task_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| } |
| } |
| } |
| ``` |
|
|
|
|
| ## Citation |
|
|
| **BibTeX:** |
|
|
| ```bibtex |
| @article{belkhale2023hydra, |
| title={HYDRA: Hybrid Robot Actions for Imitation Learning}, |
| author={Belkhale, Suneel and Cui, Yuchen and Sadigh, Dorsa}, |
| journal={arxiv}, |
| year={2023} |
| } |
| ``` |
