---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- LeRobot
- libero
- franka
- /SSD/LSY/LIBERO_MY/multicam20/libero_goal
configs:
- config_name: default
  data_files: data/*/*.parquet
---

This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).

## Dataset Description



- **Homepage:** [More Information Needed]
- **Paper:** [More Information Needed]
- **License:** apache-2.0

## Dataset Structure

[meta/info.json](meta/info.json):
```json
{
    "codebase_version": "v3.0",
    "robot_type": "franka",
    "total_episodes": 500,
    "total_frames": 61228,
    "total_tasks": 10,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 20,
    "splits": {
        "train": "0:500"
    },
    "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.state": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": {
                "motors": [
                    "x",
                    "y",
                    "z",
                    "axis_angle1",
                    "axis_angle2",
                    "axis_angle3",
                    "gripper",
                    "gripper"
                ]
            }
        },
        "observation.states.ee_state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": {
                "motors": [
                    "x",
                    "y",
                    "z",
                    "axis_angle1",
                    "axis_angle2",
                    "axis_angle3"
                ]
            }
        },
        "observation.states.joint_state": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": {
                "motors": [
                    "joint_0",
                    "joint_1",
                    "joint_2",
                    "joint_3",
                    "joint_4",
                    "joint_5",
                    "joint_6"
                ]
            }
        },
        "observation.states.gripper_state": {
            "dtype": "float32",
            "shape": [
                2
            ],
            "names": {
                "motors": [
                    "gripper",
                    "gripper"
                ]
            }
        },
        "action": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": {
                "motors": [
                    "x",
                    "y",
                    "z",
                    "axis_angle1",
                    "axis_angle2",
                    "axis_angle3",
                    "gripper"
                ]
            }
        },
        "observation.images.agentview": {
            "dtype": "video",
            "shape": [
                128,
                128,
                3
            ],
            "names": [
                "height",
                "width",
                "rgb"
            ],
            "info": {
                "video.height": 128,
                "video.width": 128,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.robot0_eye_in_hand": {
            "dtype": "video",
            "shape": [
                128,
                128,
                3
            ],
            "names": [
                "height",
                "width",
                "rgb"
            ],
            "info": {
                "video.height": 128,
                "video.width": 128,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.camera_01": {
            "dtype": "video",
            "shape": [
                128,
                128,
                3
            ],
            "names": [
                "height",
                "width",
                "rgb"
            ],
            "info": {
                "video.height": 128,
                "video.width": 128,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.camera_02": {
            "dtype": "video",
            "shape": [
                128,
                128,
                3
            ],
            "names": [
                "height",
                "width",
                "rgb"
            ],
            "info": {
                "video.height": 128,
                "video.width": 128,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.camera_03": {
            "dtype": "video",
            "shape": [
                128,
                128,
                3
            ],
            "names": [
                "height",
                "width",
                "rgb"
            ],
            "info": {
                "video.height": 128,
                "video.width": 128,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.camera_04": {
            "dtype": "video",
            "shape": [
                128,
                128,
                3
            ],
            "names": [
                "height",
                "width",
                "rgb"
            ],
            "info": {
                "video.height": 128,
                "video.width": 128,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.camera_05": {
            "dtype": "video",
            "shape": [
                128,
                128,
                3
            ],
            "names": [
                "height",
                "width",
                "rgb"
            ],
            "info": {
                "video.height": 128,
                "video.width": 128,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.camera_06": {
            "dtype": "video",
            "shape": [
                128,
                128,
                3
            ],
            "names": [
                "height",
                "width",
                "rgb"
            ],
            "info": {
                "video.height": 128,
                "video.width": 128,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.camera_07": {
            "dtype": "video",
            "shape": [
                128,
                128,
                3
            ],
            "names": [
                "height",
                "width",
                "rgb"
            ],
            "info": {
                "video.height": 128,
                "video.width": 128,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.camera_08": {
            "dtype": "video",
            "shape": [
                128,
                128,
                3
            ],
            "names": [
                "height",
                "width",
                "rgb"
            ],
            "info": {
                "video.height": 128,
                "video.width": 128,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.camera_09": {
            "dtype": "video",
            "shape": [
                128,
                128,
                3
            ],
            "names": [
                "height",
                "width",
                "rgb"
            ],
            "info": {
                "video.height": 128,
                "video.width": 128,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.camera_10": {
            "dtype": "video",
            "shape": [
                128,
                128,
                3
            ],
            "names": [
                "height",
                "width",
                "rgb"
            ],
            "info": {
                "video.height": 128,
                "video.width": 128,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.camera_11": {
            "dtype": "video",
            "shape": [
                128,
                128,
                3
            ],
            "names": [
                "height",
                "width",
                "rgb"
            ],
            "info": {
                "video.height": 128,
                "video.width": 128,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.camera_12": {
            "dtype": "video",
            "shape": [
                128,
                128,
                3
            ],
            "names": [
                "height",
                "width",
                "rgb"
            ],
            "info": {
                "video.height": 128,
                "video.width": 128,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.camera_13": {
            "dtype": "video",
            "shape": [
                128,
                128,
                3
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            "names": [
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                "width",
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                "video.width": 128,
                "video.codec": "av1",
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        "observation.images.camera_14": {
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            ],
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                "video.width": 128,
                "video.codec": "av1",
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        },
        "observation.images.camera_15": {
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                "rgb"
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            "info": {
                "video.height": 128,
                "video.width": 128,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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            }
        },
        "observation.images.camera_17": {
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            "shape": [
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                3
            ],
            "names": [
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                "width",
                "rgb"
            ],
            "info": {
                "video.height": 128,
                "video.width": 128,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
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        },
        "observation.images.camera_18": {
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            ],
            "names": [
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                "width",
                "rgb"
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            "info": {
                "video.height": 128,
                "video.width": 128,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.camera_19": {
            "dtype": "video",
            "shape": [
                128,
                128,
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            ],
            "names": [
                "height",
                "width",
                "rgb"
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            "info": {
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                "video.width": 128,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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            }
        },
        "observation.images.camera_20": {
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                3
            ],
            "names": [
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                "width",
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            "info": {
                "video.height": 128,
                "video.width": 128,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
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        },
        "task_index": {
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                1
            ],
            "names": null
        }
    }
}
```


## Citation

**BibTeX:**

```bibtex
[More Information Needed]
```