tc-huang/mahjong_reach_random_1k

This dataset was created using LeRobot.

Dataset Description

Simulated SO-101 arm (Isaac Lab, PhysX physics, RTX rendering) hovering its closed jaws over the mahjong tile its instruction names, among seven tiles (1, 2 and 3 of characters, 2 of dots, 2 of bamboo, red and green dragons) laid out at random on a foam pad: task Mahjong-ReachRandom-SO101-v0.

• Recorded with a scripted policy, successful episodes only.
• 1,000 episodes, each a new layout with a target drawn at random, recorded in two halves of 500, from seed 100 and from seed 200; evaluation uses seeds from 1000.
• Cameras: side_cam (a fixed webcam) and gripper_cam (on the wrist), 640 x 480 at 30 fps.
• No domain randomization.

The camera frames show mahjong tile faces adapted from Mahjong_eg_TW.jpg by Cangjie6, licensed under CC BY-SA 4.0. Changes: each face was cropped, rectified and cleaned, modelled as recessed geometry on a 29 x 22 mm tile, and rendered in a simulated scene. This dataset is shared under CC BY-SA 4.0 as well. No endorsement by the source author is implied.

• Homepage: [More Information Needed]
• Paper: [More Information Needed]
• License: cc-by-sa-4.0

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "fps": 30,
    "features": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
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            ],
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ]
        },
        "observation.images.side_cam": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": 12,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {},
                "is_depth_map": false
            }
        },
        "observation.images.gripper_cam": {
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            "shape": [
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                640,
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            ],
            "names": [
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        "timestamp": {
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            "names": null
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        },
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    },
    "total_episodes": 1000,
    "total_frames": 77707,
    "total_tasks": 7,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "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",
    "robot_type": "so101_follower",
    "splits": {
        "train": "0:1000"
    }
}

Citation

BibTeX:

[More Information Needed]