21 episodes · 20 fps · 3 cameras · 640×480 av1
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"fps": 20,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
18
],
"names": [
"left_shoulder_pitch",
"left_shoulder_roll",
"left_shoulder_yaw",
"left_elbow",
"left_wrist_roll",
"left_wrist_yaw",
"left_wrist_pitch",
"left_gripper_left_finger",
"left_gripper_right_finger",
"right_shoulder_pitch",
"right_shoulder_roll",
"right_shoulder_yaw",
"right_elbow",
"right_wrist_roll",
"right_wrist_yaw",
"right_wrist_pitch",
"right_gripper_left_finger",
"right_gripper_right_finger"
]
},
"action": {
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16
],
"names": [
"right_ee_x",
"right_ee_y",
"right_ee_z",
"right_ee_qw",
"right_ee_qx",
"right_ee_qy",
"right_ee_qz",
"right_gripper",
"left_ee_x",
"left_ee_y",
"left_ee_z",
"left_ee_qw",
"left_ee_qx",
"left_ee_qy",
"left_ee_qz",
"left_gripper"
]
},
"observation.images.front": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"info": {
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"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 20,
"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": {},
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}
},
"observation.images.left_wrist": {
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"shape": [
3,
240,
320
],
"names": [
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"height",
"width"
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"info": {
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"video.width": 320,
"video.codec": "av1",
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},
"observation.images.right_wrist": {
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320
],
"names": [
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"width"
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"info": {
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"video.width": 320,
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"video.fps": 20,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
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"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {},
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}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
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"shape": [
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"names": null
},
"episode_index": {
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"names": null
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"index": {
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"task_index": {
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}
},
"total_episodes": 21,
"total_frames": 3571,
"total_tasks": 1,
"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": "areumii_c1",
"splits": {
"train": "0:21"
}
}
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