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austin_buds_dataset

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1
  ---
 
2
  task_categories:
3
  - robotics
4
  tags:
5
  - LeRobot
 
 
 
6
  ---
 
7
  This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
8
 
9
- [meta/info.json](meta/info.json)
 
 
 
 
 
 
 
 
 
 
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  ```json
11
  {
12
  "codebase_version": "v2.0",
13
- "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
14
  "robot_type": "unknown",
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  "total_episodes": 50,
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  "total_frames": 34112,
@@ -22,88 +36,174 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
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  "splits": {
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  "train": "0:50"
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  },
25
- "keys": [
26
- "observation.state",
27
- "action"
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- ],
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- "video_keys": [
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- "observation.images.image",
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- "observation.images.wrist_image"
32
- ],
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- "image_keys": [],
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- "shapes": {
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- "observation.state": 24,
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- "action": 7,
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  "observation.images.image": {
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- "width": 128,
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- "height": 128,
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- "channels": 3
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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  },
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  "observation.images.wrist_image": {
43
- "width": 128,
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- "height": 128,
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- "channels": 3
46
- }
47
- },
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- "names": {
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- "observation.state": [
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- "motor_0",
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- "motor_1",
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- "motor_2",
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- "motor_3",
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- "motor_4",
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- "motor_5",
56
- "motor_6",
57
- "motor_7",
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- "motor_8",
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- "motor_9",
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- "motor_10",
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- "motor_11",
62
- "motor_12",
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- "motor_13",
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- "motor_14",
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- "motor_15",
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- "motor_16",
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- "motor_17",
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- "motor_18",
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- "motor_19",
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- "motor_20",
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- "motor_21",
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- "motor_22",
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- "motor_23"
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- ],
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- "action": [
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- "motor_0",
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- "motor_1",
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- "motor_2",
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- "motor_3",
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- "motor_4",
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- "motor_5",
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- "motor_6"
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- ]
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- },
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- "videos": {
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- "videos_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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- "observation.images.image": {
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- "video.fps": 5.0,
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- "video.width": 128,
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- "video.height": 128,
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- "video.channels": 3,
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- "video.codec": "av1",
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- "video.pix_fmt": "yuv420p",
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- "video.is_depth_map": false,
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- "has_audio": false
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  },
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- "observation.images.wrist_image": {
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- "video.fps": 5.0,
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- "video.width": 128,
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- "video.height": 128,
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- "video.channels": 3,
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- "video.codec": "av1",
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- "video.pix_fmt": "yuv420p",
104
- "video.is_depth_map": false,
105
- "has_audio": false
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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  }
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  }
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  }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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  ```
 
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  ---
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+ license: mit
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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:
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+ - 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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+ ## Dataset Description
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+
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+
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+
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+ - **Homepage:** https://ut-austin-rpl.github.io/BUDS-website/
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+ - **Paper:** https://arxiv.org/abs/2109.13841
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+ - **License:** mit
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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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  {
27
  "codebase_version": "v2.0",
 
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  "robot_type": "unknown",
29
  "total_episodes": 50,
30
  "total_frames": 34112,
 
36
  "splits": {
37
  "train": "0:50"
38
  },
39
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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+ "features": {
 
 
 
 
 
 
 
 
 
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  "observation.images.image": {
43
+ "dtype": "video",
44
+ "shape": [
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+ 128,
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+ 128,
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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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+ "video_info": {
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+ "video.fps": 5.0,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "has_audio": false
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+ }
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  },
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  "observation.images.wrist_image": {
63
+ "dtype": "video",
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+ "shape": [
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+ 128,
66
+ 128,
67
+ 3
68
+ ],
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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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+ "video_info": {
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+ "video.fps": 5.0,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "has_audio": false
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+ }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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  },
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+ "language_instruction": {
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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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+ "observation.state": {
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+ "dtype": "float32",
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+ "shape": [
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+ 24
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+ ],
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+ "names": {
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+ "motors": [
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+ "motor_0",
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+ "motor_1",
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+ "motor_2",
99
+ "motor_3",
100
+ "motor_4",
101
+ "motor_5",
102
+ "motor_6",
103
+ "motor_7",
104
+ "motor_8",
105
+ "motor_9",
106
+ "motor_10",
107
+ "motor_11",
108
+ "motor_12",
109
+ "motor_13",
110
+ "motor_14",
111
+ "motor_15",
112
+ "motor_16",
113
+ "motor_17",
114
+ "motor_18",
115
+ "motor_19",
116
+ "motor_20",
117
+ "motor_21",
118
+ "motor_22",
119
+ "motor_23"
120
+ ]
121
+ }
122
+ },
123
+ "action": {
124
+ "dtype": "float32",
125
+ "shape": [
126
+ 7
127
+ ],
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+ "names": {
129
+ "motors": [
130
+ "motor_0",
131
+ "motor_1",
132
+ "motor_2",
133
+ "motor_3",
134
+ "motor_4",
135
+ "motor_5",
136
+ "motor_6"
137
+ ]
138
+ }
139
+ },
140
+ "timestamp": {
141
+ "dtype": "float32",
142
+ "shape": [
143
+ 1
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+ ],
145
+ "names": null
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+ },
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+ "episode_index": {
148
+ "dtype": "int64",
149
+ "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",
156
+ "shape": [
157
+ 1
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+ ],
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+ "names": null
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+ },
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+ "next.reward": {
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+ "dtype": "float32",
163
+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "next.done": {
169
+ "dtype": "bool",
170
+ "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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  }
189
  }
190
  }
191
+ ```
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+
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+
194
+ ## Citation
195
+
196
+ **BibTeX:**
197
+
198
+ ```bibtex
199
+ @article{zhu2022bottom,
200
+ title={Bottom-Up Skill Discovery From Unsegmented Demonstrations for Long-Horizon Robot Manipulation},
201
+ author={Zhu, Yifeng and Stone, Peter and Zhu, Yuke},
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+ journal={IEEE Robotics and Automation Letters},
203
+ volume={7},
204
+ number={2},
205
+ pages={4126--4133},
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+ year={2022},
207
+ publisher={IEEE}
208
+ }
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  ```