SPeramanu/oct_diffusion_model
Robotics • 78.3M • Updated • 8
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observation.pointcloud array 2D | observation.state list | action list | timestamp float32 0 76.4 | frame_index int64 0 764 | episode_index int64 0 60 | index int64 0 31.4k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|
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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": "custom",
"total_episodes": 61,
"total_frames": 31445,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:61"
},
"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.pointcloud": {
"dtype": "float32",
"shape": [
2048,
3
],
"names": [
"N_points",
"XYZ"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
18
],
"names": [
"D_state"
]
},
"action": {
"dtype": "float32",
"shape": [
11
],
"names": [
"D_act"
]
},
"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:
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