Datasets:

OpenDriveLab-org
/

Kai0-Data

	---
	license: cc-by-nc-nd-4.0
	task_categories:
	- robotics
	tags:
	- LeRobot
	configs:
	- config_name: default
	data_files: data//.parquet
	language:
	- en
	---
	<span style="color: red; font-weight: bold; font-size: 24px;">⚠️ !!! 等待信息，填充链接</span>
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	# Contents
	- [About the Dataset](#about-the-dataset)
	- [Dataset Structure](#dataset-structure)
	- [Folder hierarchy](#folder-hierarchy)
	- [Details](#details)
	- [Download the Dataset](#download-the-dataset)
	- [Load the Dataset](#get-started)
	- [License and Citation](#license-and-citation)

	# [About the Dataset](#contents)
	- This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
	- ~200 hours real world scenarios across 1 main task, 3 sub tasks
	- A clothing organization task that involves identifying the type of clothing and determining the next action based on its category
	- sub-tasks
	- Folding
	- Randomly pick a piece of clothing from the basket and place it on the workbench
	- If it is a short T-shirt, fold it
	- Hanging Preparation
	- Randomly pick a piece of clothing from the basket and place it on the workbench
	- If it is a dress shirt, locate the collar and drag the clothing to the right side
	- Hanging
	- Hang the dress shirt properly

	# [Dataset Structure](#contents)

	## [Folder hierarchy](#contents)
	```text
	dataset_root/
	├── data/
	│ ├── chunk-000/
	│ │ ├── episode_000000.parquet
	│ │ ├── episode_000001.parquet
	│ │ └── ...
	│ └── ...
	├── videos/
	│ ├── chunk-000/
	│ │ ├── observation.images.hand_left
	│ │ │ ├── episode_000000.mp4
	│ │ │ ├── episode_000001.mp4
	│ │ │ └── ...
	│ │ ├── observation.images.hand_right
	│ │ │ ├── episode_000000.mp4
	│ │ │ ├── episode_000001.mp4
	│ │ │ └── ...
	│ │ ├── observation.images.top_head
	│ │ │ ├── episode_000000.mp4
	│ │ │ ├── episode_000001.mp4
	│ │ │ └── ...
	│ │ └── ...
	├── meta/
	│ ├── info.json
	│ ├── episodes.jsonl
	│ ├── tasks.jsonl
	│ └── episodes_stats.jsonl
	└ README.md
	```

	<a id='Details'></a>
	## [Details](#contents)
	### info.json
	the basic struct of the [info.json](#meta/info.json)
	```json
	{
	"codebase_version": "v2.1",
	"robot_type": "agilex",
	"total_episodes": ...,
	"total_frames": ...,
	"total_tasks": ...,
	"total_videos": ...,
	"total_chunks": ...,
	"chunks_size": ...,
	"fps": ...,
	"splits": {
	"train": ...
	},
	"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.top_head": {
	"dtype": "video",
	"shape": [
	480,
	640,
	3
	],
	"names": [
	"height",
	"width",
	"channel"
	],
	"info": {
	"video.height": 480,
	"video.width": 640,
	"video.codec": "av1",
	"video.pix_fmt": "yuv420p",
	"video.is_depth_map": false,
	"video.fps": 30,
	"video.channels": 3,
	"has_audio": false
	}
	},
	"observation.images.hand_left": {
	...
	},
	"observation.images.hand_right": {
	...
	},
	"observation.state": {
	"dtype": "float32",
	"shape": [
	14
	],
	"names": null
	},
	"action": {
	"dtype": "float32",
	"shape": [
	14
	],
	"names": null
	},
	"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
	}
	}
	```

	### [Parquet file format](#contents)
	\| Field Name \| shape \| Meaning \|
	\|------------\|-------------\|-------------\|
	\| observation.state \| [N, 14] \|left `[:, :6]`, right `[:, 7:13]`, joint angle<br> left`[:, 6]`, right `[:, 13]` , gripper open range\|
	\| action \| [N, 14] \|left `[:, :6]`, right `[:, 7:13]`, joint angle<br>left`[:, 6]`, right `[:, 13]` , gripper open range \|
	\| timestamp \| [N, 1] \| Time elapsed since the start of the episode (in seconds) \|
	\| frame_index \| [N, 1] \| Index of this frame within the current episode (0-indexed) \|
	\| episode_index \| [N, 1] \| Index of the episode this frame belongs to \|
	\| index \| [N, 1] \| Global unique index across all frames in the dataset \|
	\| task_index \| [N, 1] \| Index identifying the task type being performed \|

	## [tasks.jsonl](#meta/tasks.jsonl)
	positive/negitive: Labels indicating the advantage of each frame's action, where "positive" means the action benefits future outcomes and "negative" means otherwise.
	# [Download the Dataset](#contents)
	### Python Script

	```python
	from huggingface_hub import hf_hub_download, snapshot_download
	from datasets import load_dataset

	# Download a single file
	hf_hub_download(
	repo_id="OpenDriveLab-org/kai0",
	filename="episodes.jsonl",
	subfolder="meta",
	repo_type="dataset",
	local_dir="where/you/want/to/save"
	)

	# Download a specific folder
	snapshot_download(
	repo_id="OpenDriveLab-org/kai0",
	local_dir="/where/you/want/to/save",
	repo_type="dataset",
	allow_patterns=["data/*"]
	)

	# Load the entire dataset
	dataset = load_dataset("OpenDriveLab-org/kai0")
	```

	### Terminal (CLI)

	```bash
	# Download a single file
	hf download OpenDriveLab-org/kai0 \
	--include "meta/info.json" \
	--repo-type dataset \
	--local-dir "/where/you/want/to/save"

	# Download a specific folder
	hf download OpenDriveLab-org/kai0 \
	--repo-type dataset \
	--include "meta/*" \
	--local-dir "/where/you/want/to/save"

	# Download the entire dataset
	hf download OpenDriveLab-org/kai0 \
	--repo-type dataset \
	--local-dir "/where/you/want/to/save"
	```

	# [Load the dataset](#contents)

	## For LeRobot version < 0.4.0

	Choose the appropriate import based on your version:

	\| Version \| Import Path \|
	\|---------\|-------------\|
	\| `<= 0.1.0` \| `from lerobot.common.datasets.lerobot_dataset import LeRobotDataset` \|
	\| `> 0.1.0` and `< 0.4.0` \| `from lerobot.datasets.lerobot_dataset import LeRobotDataset` \|

	```python
	# For version <= 0.1.0
	from lerobot.common.datasets.lerobot_dataset import LeRobotDataset

	# For version > 0.1.0 and < 0.4.0
	from lerobot.datasets.lerobot_dataset import LeRobotDataset

	# Load the dataset
	dataset = LeRobotDataset(repo_id='where/the/dataset/you/stored')
	```

	## For LeRobot version >= 0.4.0

	You need to migrate the dataset from v2.1 to v3.0 first. See the official documentation: [Migrate the dataset from v2.1 to v3.0](https://huggingface.co/docs/lerobot/lerobot-dataset-v3)

	```bash
	python -m lerobot.datasets.v30.convert_dataset_v21_to_v30 --repo-id=<HF_USER/DATASET_ID>
	```
	<span style="color: red; font-weight: bold; font-size: 24px;">⚠️ !!! 等待信息填充</span>
	# License and Citation
	All the data and code within this repo are under [](). Please consider citing our project if it helps your research.

	```BibTeX
	@misc{,
	title={},
	author={},
	howpublished={\url{}},
	year={}
	}