README.md

metadata

license: mit
task_categories:
  - robotics
  - reinforcement-learning
language:
  - en
tags:
  - robot
  - reinforcement-learning
  - rlbench
  - lerobot
  - vla
  - vision-language-action
pretty_name: RLBench - Task PutRubbishInBin (relative actions in Euler representation)

put_rubbish_in_bin_euler_relative

Generated RLBench -> LeRobot v2.1 dataset. meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "franka",
    "total_episodes": 250,
    "total_frames": 38368,
    "total_tasks": 1,
    "total_videos": 1250,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:250"
    },
    "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": [
                8
            ],
            "names": [
                "x",
                "y",
                "z",
                "qx",
                "qy",
                "qz",
                "qw",
                "gripper"
            ],
            "description": "End-effector position (x,y,z), orientation (qx,qy,qz,qw) and gripper state (0.0 closed, 1.0 open)."
        },
        "action": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "x",
                "y",
                "z",
                "roll",
                "pitch",
                "yaw",
                "gripper"
            ],
            "description": "Action applied at each step, in Euler representation + gripper (0.0 close, 1.0 open)."
        },
        "observation.images.left_shoulder_rgb": {
            "dtype": "video",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 10,
                "video.height": 256,
                "video.width": 256,
                "video.channels": 3,
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.right_shoulder_rgb": {
            "dtype": "video",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 10,
                "video.height": 256,
                "video.width": 256,
                "video.channels": 3,
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.front_rgb": {
            "dtype": "video",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 10,
                "video.height": 256,
                "video.width": 256,
                "video.channels": 3,
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.wrist_rgb": {
            "dtype": "video",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 10,
                "video.height": 256,
                "video.width": 256,
                "video.channels": 3,
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.overhead_rgb": {
            "dtype": "video",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 10,
                "video.height": 256,
                "video.width": 256,
                "video.channels": 3,
                "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
        }
    }
}