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observation.state
list
observation.environment_state
list
action
list
source
int64
success
int64
intervention
int64
is_valid
int64
reward
float32
done
int64
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "panda",
    "total_episodes": 50,
    "total_frames": 13634,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 20,
    "splits": {
        "train": "0:50"
    },
    "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.state": {
            "dtype": "float32",
            "shape": [
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            "names": [
                "eef_pos_x",
                "eef_pos_y",
                "eef_pos_z",
                "eef_quat_x",
                "eef_quat_y",
                "eef_quat_z",
                "eef_quat_w",
                "gripper_qpos_left",
                "gripper_qpos_right"
            ]
        },
        "observation.environment_state": {
            "dtype": "float32",
            "shape": [
                17
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            "names": [
                "nut_to_eef_pos_x",
                "nut_to_eef_pos_y",
                "nut_to_eef_pos_z",
                "nut_to_eef_quat_x",
                "nut_to_eef_quat_y",
                "nut_to_eef_quat_z",
                "nut_to_eef_quat_w",
                "nut_pos_x",
                "nut_pos_y",
                "nut_pos_z",
                "nut_quat_x",
                "nut_quat_y",
                "nut_quat_z",
                "nut_quat_w",
                "peg_pos_x",
                "peg_pos_y",
                "peg_pos_z"
            ]
        },
        "action": {
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            "names": [
                "delta_eef_pos_x",
                "delta_eef_pos_y",
                "delta_eef_pos_z",
                "delta_eef_rot_x",
                "delta_eef_rot_y",
                "delta_eef_rot_z",
                "gripper_action"
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        },
        "source": {
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            "names": [
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        "success": {
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        "intervention": {
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        "is_valid": {
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        "reward": {
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            "info": {
                "video.height": 256,
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                "video.is_depth_map": false,
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        },
        "observation.images.robot0_eye_in_hand": {
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            "names": [
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                "video.is_depth_map": false,
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                "has_audio": false
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        },
        "timestamp": {
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            "names": null
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        "frame_index": {
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        "episode_index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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