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4.6
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4.65
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4.7
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4.75
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4.8
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4.85
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0
4.9
98
0
98
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4.95
99
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99
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "robomimic",
    "total_episodes": 30,
    "total_frames": 15067,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:30"
    },
    "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": {
        "action": {
            "dtype": "float32",
            "shape": [
                24
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            "names": [
                "action_0",
                "action_1",
                "action_2",
                "action_3",
                "action_4",
                "action_5",
                "action_6",
                "action_7",
                "action_8",
                "action_9",
                "action_10",
                "action_11",
                "action_12",
                "action_13",
                "action_14",
                "action_15",
                "action_16",
                "action_17",
                "action_18",
                "action_19",
                "action_20",
                "action_21",
                "action_22",
                "action_23"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
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            "names": [
                "robot0_eef_pos_0",
                "robot0_eef_pos_1",
                "robot0_eef_pos_2",
                "robot0_eef_quat_0",
                "robot0_eef_quat_1",
                "robot0_eef_quat_2",
                "robot0_eef_quat_3",
                "robot0_gripper_qpos_0",
                "robot0_gripper_qpos_1",
                "robot0_gripper_qpos_2",
                "robot0_gripper_qpos_3",
                "robot0_gripper_qpos_4",
                "robot0_gripper_qpos_5",
                "robot0_gripper_qpos_6",
                "robot0_gripper_qpos_7",
                "robot0_gripper_qpos_8",
                "robot0_gripper_qpos_9",
                "robot0_gripper_qpos_10",
                "robot0_gripper_qpos_11",
                "robot1_eef_pos_0",
                "robot1_eef_pos_1",
                "robot1_eef_pos_2",
                "robot1_eef_quat_0",
                "robot1_eef_quat_1",
                "robot1_eef_quat_2",
                "robot1_eef_quat_3",
                "robot1_gripper_qpos_0",
                "robot1_gripper_qpos_1",
                "robot1_gripper_qpos_2",
                "robot1_gripper_qpos_3",
                "robot1_gripper_qpos_4",
                "robot1_gripper_qpos_5",
                "robot1_gripper_qpos_6",
                "robot1_gripper_qpos_7",
                "robot1_gripper_qpos_8",
                "robot1_gripper_qpos_9",
                "robot1_gripper_qpos_10",
                "robot1_gripper_qpos_11"
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        "observation.images.agentview_image": {
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            "names": [
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            "info": {
                "video.height": 84,
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                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
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        },
        "observation.images.robot0_eye_in_hand_image": {
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            "names": [
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                "width",
                "channel"
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            "info": {
                "video.height": 84,
                "video.width": 84,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.robot1_eye_in_hand_image": {
            "dtype": "video",
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                3
            ],
            "names": [
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            ],
            "info": {
                "video.height": 84,
                "video.width": 84,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
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            "names": null
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        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "shape": [
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            "names": null
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        "index": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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