Datasets:
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action
list | observation.state
list | timestamp
float32 0
25
| frame_index
int64 0
747
| episode_index
int64 0
39
| index
int64 0
29.9k
| 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": "bi_openarm",
"total_episodes": 40,
"total_frames": 29854,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:40"
},
"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": {
"action": {
"dtype": "float32",
"names": [
"left_shoulder_pan.pos",
"left_shoulder_lift.pos",
"left_elbow.pos",
"left_wrist_pitch.pos",
"left_wrist_roll.pos",
"left_wrist_yaw.pos",
"left_tool.pos",
"left_gripper.pos",
"right_shoulder_pan.pos",
"right_shoulder_lift.pos",
"right_elbow.pos",
"right_wrist_pitch.pos",
"right_wrist_roll.pos",
"right_wrist_yaw.pos",
"right_tool.pos",
"right_gripper.pos"
],
"shape": [
16
]
},
"observation.state": {
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"names": [
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"left_shoulder_pan.vel",
"left_shoulder_lift.pos",
"left_shoulder_lift.vel",
"left_elbow.pos",
"left_elbow.vel",
"left_wrist_pitch.pos",
"left_wrist_pitch.vel",
"left_wrist_roll.pos",
"left_wrist_roll.vel",
"left_wrist_yaw.pos",
"left_wrist_yaw.vel",
"left_tool.pos",
"left_tool.vel",
"left_gripper.pos",
"left_gripper.vel",
"right_shoulder_pan.pos",
"right_shoulder_pan.vel",
"right_shoulder_lift.pos",
"right_shoulder_lift.vel",
"right_elbow.pos",
"right_elbow.vel",
"right_wrist_pitch.pos",
"right_wrist_pitch.vel",
"right_wrist_roll.pos",
"right_wrist_roll.vel",
"right_wrist_yaw.pos",
"right_wrist_yaw.vel",
"right_tool.pos",
"right_tool.vel",
"right_gripper.pos",
"right_gripper.vel"
],
"shape": [
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]
},
"observation.images.laptop": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
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"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"timestamp": {
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},
"frame_index": {
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},
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},
"index": {
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},
"task_index": {
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],
"names": null
}
}
}
Citation
BibTeX:
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