Datasets:
image
imagewidth (px) 256
256
| wrist_image
imagewidth (px) 256
256
| state
list | action
list | eef_pose
list | obj_pose
array 2D | obj_names
stringclasses 1
value | obj_q_names
stringclasses 1
value | obj_q_states
list | config_file_name
stringclasses 1
value | timestamp
float32 0
11.3
| frame_index
int64 0
225
| episode_index
int64 0
49
| index
int64 0
10.1k
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wooden_cabinet_top_level,wooden_cabinet_middle_level,wooden_cabinet_bottom_level,pad,pad,pad,pad,pad,pad,pad
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body_obj_box_1,body_obj_cylinder_1,body_obj_cylinder_2,body_obj_wooden_cabinet,pad,pad,pad,pad,pad,pad
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wooden_cabinet_top_level,wooden_cabinet_middle_level,wooden_cabinet_bottom_level,pad,pad,pad,pad,pad,pad,pad
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body_obj_box_1,body_obj_cylinder_1,body_obj_cylinder_2,body_obj_wooden_cabinet,pad,pad,pad,pad,pad,pad
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wooden_cabinet_top_level,wooden_cabinet_middle_level,wooden_cabinet_bottom_level,pad,pad,pad,pad,pad,pad,pad
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wooden_cabinet_top_level,wooden_cabinet_middle_level,wooden_cabinet_bottom_level,pad,pad,pad,pad,pad,pad,pad
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body_obj_box_1,body_obj_cylinder_1,body_obj_cylinder_2,body_obj_wooden_cabinet,pad,pad,pad,pad,pad,pad
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wooden_cabinet_top_level,wooden_cabinet_middle_level,wooden_cabinet_bottom_level,pad,pad,pad,pad,pad,pad,pad
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body_obj_box_1,body_obj_cylinder_1,body_obj_cylinder_2,body_obj_wooden_cabinet,pad,pad,pad,pad,pad,pad
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wooden_cabinet_top_level,wooden_cabinet_middle_level,wooden_cabinet_bottom_level,pad,pad,pad,pad,pad,pad,pad
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body_obj_box_1,body_obj_cylinder_1,body_obj_cylinder_2,body_obj_wooden_cabinet,pad,pad,pad,pad,pad,pad
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wooden_cabinet_top_level,wooden_cabinet_middle_level,wooden_cabinet_bottom_level,pad,pad,pad,pad,pad,pad,pad
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./configs/train.json
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body_obj_box_1,body_obj_cylinder_1,body_obj_cylinder_2,body_obj_wooden_cabinet,pad,pad,pad,pad,pad,pad
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wooden_cabinet_top_level,wooden_cabinet_middle_level,wooden_cabinet_bottom_level,pad,pad,pad,pad,pad,pad,pad
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[
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./configs/train.json
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|
body_obj_box_1,body_obj_cylinder_1,body_obj_cylinder_2,body_obj_wooden_cabinet,pad,pad,pad,pad,pad,pad
|
wooden_cabinet_top_level,wooden_cabinet_middle_level,wooden_cabinet_bottom_level,pad,pad,pad,pad,pad,pad,pad
|
[
-0.1599999964237213,
0,
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0
] |
./configs/train.json
| 4.95
| 99
| 0
| 99
| 0
|
End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "omy",
"total_episodes": 50,
"total_frames": 10128,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:50"
},
"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": {
"image": {
"dtype": "image",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channels"
]
},
"wrist_image": {
"dtype": "image",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channels"
]
},
"state": {
"dtype": "float32",
"shape": [
10
],
"names": [
"state"
]
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"action"
]
},
"eef_pose": {
"dtype": "float32",
"shape": [
7
],
"names": [
"eef_pose"
]
},
"obj_pose": {
"dtype": "float32",
"shape": [
10,
6
],
"names": [
"obj_pose"
]
},
"obj_names": {
"dtype": "string",
"shape": [
1
],
"names": [
"obj_names"
]
},
"obj_q_names": {
"dtype": "string",
"shape": [
1
],
"names": [
"obj_q_names"
]
},
"obj_q_states": {
"dtype": "float32",
"shape": [
10
],
"names": [
"obj_q_states"
]
},
"config_file_name": {
"dtype": "string",
"shape": [
1
],
"names": [
"file_name"
]
},
"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
}
}
}
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