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observation.state
list
action
list
timestamp
float32
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22.2
frame_index
int64
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665
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87
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29.1k
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2.6
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3
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3.1
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3.2
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[ 0.5138835906982422, 0.17487381398677826, -0.4387184977531433, -2.1168935298919678, -0.2040194422006607, 0.04448544234037399, 0.34821364283561707, 1 ]
3.3
99
0
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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",
    "fps": 30,
    "features": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                19
            ],
            "names": [
                "arm_left.joint1",
                "arm_left.joint2",
                "arm_left.joint3",
                "arm_left.joint4",
                "arm_left.joint5",
                "arm_left.joint6",
                "arm_left.joint7",
                "gripper_left.j_1_1",
                "gripper_left.j_1_2",
                "gripper_left.j_1_3",
                "gripper_left.j_1_4",
                "gripper_left.j_2_1",
                "gripper_left.j_2_2",
                "gripper_left.j_2_3",
                "gripper_left.j_2_4",
                "gripper_left.j_3_1",
                "gripper_left.j_3_2",
                "gripper_left.j_3_3",
                "gripper_left.j_3_4"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": [
                "arm_left.joint1",
                "arm_left.joint2",
                "arm_left.joint3",
                "arm_left.joint4",
                "arm_left.joint5",
                "arm_left.joint6",
                "arm_left.joint7",
                "gripper_left"
            ]
        },
        "observation.images.head": {
            "dtype": "video",
            "shape": [
                3,
                720,
                1280
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.left_wrist": {
            "dtype": "video",
            "shape": [
                3,
                240,
                424
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "info": {
                "video.height": 240,
                "video.width": 424,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.right_wrist": {
            "dtype": "video",
            "shape": [
                3,
                240,
                424
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "info": {
                "video.height": 240,
                "video.width": 424,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "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
        }
    },
    "total_episodes": 88,
    "total_frames": 29061,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "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",
    "robot_type": null,
    "splits": {
        "train": "0:88"
    }
}

Citation

BibTeX:

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