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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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This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
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## Dataset Description |
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- **Homepage:** https://toto-benchmark.org/ |
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- **Paper:** https://arxiv.org/abs/2306.00942 |
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- **License:** mit |
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## Dataset Structure |
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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": "v2.0", |
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"robot_type": "unknown", |
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"total_episodes": 1003, |
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"total_frames": 325699, |
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"total_tasks": 1, |
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"total_videos": 1003, |
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"total_chunks": 2, |
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"chunks_size": 1000, |
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"fps": 30, |
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"splits": { |
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"train": "0:1003" |
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}, |
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"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": { |
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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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"video_info": { |
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"video.fps": 30.0, |
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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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8 |
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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", |
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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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"motor_7" |
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] |
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} |
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}, |
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"action": { |
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"dtype": "float32", |
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"shape": [ |
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7 |
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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", |
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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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}, |
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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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"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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"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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"next.reward": { |
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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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"next.done": { |
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"dtype": "bool", |
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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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} |
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} |
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``` |
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## Citation |
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**BibTeX:** |
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```bibtex |
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@inproceedings{zhou2023train, |
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author={Zhou, Gaoyue and Dean, Victoria and Srirama, Mohan Kumar and Rajeswaran, Aravind and Pari, Jyothish and Hatch, Kyle and Jain, Aryan and Yu, Tianhe and Abbeel, Pieter and Pinto, Lerrel and Finn, Chelsea and Gupta, Abhinav}, |
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booktitle={2023 IEEE International Conference on Robotics and Automation (ICRA)}, |
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title={Train Offline, Test Online: A Real Robot Learning Benchmark}, |
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year={2023}, |
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} |
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``` |
