Datasets:
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timestamp float32 0 36 | frame_index int64 0 47.5k | episode_index int64 0 243 | index int64 0 50.2k | task_index int64 0 5 | observation.state listlengths 22 22 | action listlengths 22 22 |
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End of preview. Expand
in Data Studio
This dataset was created using Physical AI Tools and LeRobot.
Dataset Structure
{
"total_episodes": 244,
"total_frames": 50223,
"total_videos": 732,
"codebase_version": "v2.1",
"robot_type": "ffw_sg2_rev1",
"total_tasks": 7,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:243"
},
"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": {
"timestamp": {
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"shape": [
1
],
"names": null
},
"frame_index": {
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1
],
"names": null
},
"episode_index": {
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"shape": [
1
],
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},
"index": {
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"shape": [
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],
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},
"task_index": {
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"shape": [
1
],
"names": null
},
"observation.images.cam_head": {
"dtype": "video",
"names": [
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"width",
"channels"
],
"shape": [
720,
1280,
3
],
"info": {
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"video.width": 1280,
"video.channels": 3,
"video.codec": "libx264",
"video.pix_fmt": "yuv420p"
}
},
"observation.images.cam_wrist_left": {
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"names": [
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],
"shape": [
480,
640,
3
],
"info": {
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"video.codec": "libx264",
"video.pix_fmt": "yuv420p"
}
},
"observation.images.cam_wrist_right": {
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"names": [
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],
"shape": [
480,
640,
3
],
"info": {
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"video.channels": 3,
"video.codec": "libx264",
"video.pix_fmt": "yuv420p"
}
},
"observation.state": {
"dtype": "float32",
"names": [
"arm_l_joint1",
"arm_l_joint2",
"arm_l_joint3",
"arm_l_joint4",
"arm_l_joint5",
"arm_l_joint6",
"arm_l_joint7",
"gripper_l_joint1",
"arm_r_joint1",
"arm_r_joint2",
"arm_r_joint3",
"arm_r_joint4",
"arm_r_joint5",
"arm_r_joint6",
"arm_r_joint7",
"gripper_r_joint1",
"head_joint1",
"head_joint2",
"lift_joint",
"linear_x",
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"angular_z"
],
"shape": [
22
]
},
"action": {
"dtype": "float32",
"names": [
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"arm_l_joint3",
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"arm_l_joint5",
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"gripper_l_joint1",
"arm_r_joint1",
"arm_r_joint2",
"arm_r_joint3",
"arm_r_joint4",
"arm_r_joint5",
"arm_r_joint6",
"arm_r_joint7",
"gripper_r_joint1",
"head_joint1",
"head_joint2",
"lift_joint",
"linear_x",
"linear_y",
"angular_z"
],
"shape": [
22
]
}
}
}
Citation
BibTeX:
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