ankile/openpi-pi05-franka-insert-marker-v2-ft
Robotics • Updated
Search is not available for this dataset
exterior_image_1_left imagewidth (px) 320 320 | exterior_image_2_left imagewidth (px) 320 320 | wrist_image_left imagewidth (px) 320 320 | joint_position list | gripper_position float32 0 0.99 | actions list | timestamp float32 0 16.7 | frame_index int64 0 250 | episode_index int64 0 49 | index int64 0 9.83k | 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": "v2.1",
"robot_type": "panda",
"total_episodes": 50,
"total_frames": 9828,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"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": {
"exterior_image_1_left": {
"dtype": "image",
"shape": [
180,
320,
3
],
"names": [
"height",
"width",
"channel"
]
},
"wrist_image_left": {
"dtype": "image",
"shape": [
180,
320,
3
],
"names": [
"height",
"width",
"channel"
]
},
"joint_position": {
"dtype": "float32",
"shape": [
7
],
"names": [
"joint_position"
]
},
"gripper_position": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper_position"
]
},
"actions": {
"dtype": "float32",
"shape": [
8
],
"names": [
"actions"
]
},
"timestamp": {
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],
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},
"frame_index": {
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],
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},
"episode_index": {
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"shape": [
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],
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},
"index": {
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},
"task_index": {
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"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
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License:
apache-2.0
Size of downloaded dataset files:
1.1 GB
Size of the auto-converted Parquet files:
1.1 GB
Number of rows:
9,828
Models trained or fine-tuned on ankile/franka-insert-marker-v2-openpi