Oiki123/act_lekiwi_pick
Robotics • Updated • 9
Datasets:
Search is not available for this dataset
observation.state list | action list | timestamp float32 0 5.6 | frame_index int64 0 84 | episode_index int64 0 199 | index int64 0 17k | task_index int64 0 2 |
|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "lekiwi",
"total_episodes": 200,
"total_frames": 17000,
"total_tasks": 3,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:200"
},
"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",
"features": {
"observation.images.top": {
"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.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.wrist": {
"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.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"Rotation",
"Pitch",
"Elbow",
"Wrist_Pitch",
"Wrist_Roll",
"Jaw"
]
},
"action": {
"dtype": "float32",
"shape": [
6
],
"names": [
"Rotation",
"Pitch",
"Elbow",
"Wrist_Pitch",
"Wrist_Roll",
"Jaw"
]
},
"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
}
}
}
Citation
BibTeX:
[More Information Needed]
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License:
apache-2.0
Size of downloaded dataset files:
1.22 MB
Size of the auto-converted Parquet files:
1.22 MB
Number of rows:
17,000
Models trained or fine-tuned on Oiki123/lekiwi_sim_pick_v3