| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
|
|
| It is a LeRobot v3.0 conversion of the [language_table_blocktoblock_oracle_sim](https://www.tensorflow.org/datasets/catalog/language_table_blocktoblock_oracle_sim) dataset |
| from the [Language Table](https://github.com/google-research/language-table) project (Google Research). |
|
|
| The original RLDS data was streamed from `gs://gresearch/robotics/language_table_blocktoblock_oracle_sim/0.0.1/`, |
| converted to LeRobot v2.0 format preserving all fields (action, state, effector target, |
| reward, done, instruction), then restructured to v3.0 with lossless video concatenation. |
|
|
| ## Dataset Description |
|
|
| - **Homepage:** https://github.com/google-research/language-table |
| - **Paper:** https://arxiv.org/abs/2210.10997 |
| - **License:** apache-2.0 |
|
|
| ## Dataset Structure |
|
|
| [meta/info.json](meta/info.json): |
| ```json |
| { |
| "codebase_version": "v3.0", |
| "robot_type": "xarm", |
| "total_episodes": 200000, |
| "total_frames": 12770620, |
| "total_tasks": 896, |
| "chunks_size": 1000, |
| "fps": 10, |
| "splits": { |
| "train": "0:200000" |
| }, |
| "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", |
| "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", |
| "features": { |
| "observation.images.rgb": { |
| "dtype": "video", |
| "shape": [ |
| 360, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "video_info": { |
| "video.fps": 10.0, |
| "video.height": 360, |
| "video.width": 640, |
| "video.channels": 3, |
| "video.codec": "libx264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 2 |
| ], |
| "names": { |
| "motors": [ |
| "x", |
| "y" |
| ] |
| }, |
| "fps": 10 |
| }, |
| "observation.effector_target_translation": { |
| "dtype": "float32", |
| "shape": [ |
| 2 |
| ], |
| "names": { |
| "motors": [ |
| "x", |
| "y" |
| ] |
| }, |
| "fps": 10 |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 2 |
| ], |
| "names": { |
| "motors": [ |
| "x", |
| "y" |
| ] |
| }, |
| "fps": 10 |
| }, |
| "next.reward": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 10 |
| }, |
| "next.done": { |
| "dtype": "bool", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 10 |
| }, |
| "timestamp": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 10 |
| }, |
| "frame_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 10 |
| }, |
| "episode_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 10 |
| }, |
| "index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 10 |
| }, |
| "task_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null, |
| "fps": 10 |
| } |
| }, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200 |
| } |
| ``` |
|
|
