Datasets:
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observation.state list | action list | timestamp float32 0 12.8 | frame_index int64 0 383 | episode_index int64 0 59 | index int64 0 19.2k | 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": "Unitree_G1_Inspire",
"total_episodes": 60,
"total_frames": 19155,
"total_tasks": 1,
"total_videos": 60,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
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},
"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": {
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68
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"kLeftShoulderRoll",
"kLeftShoulderYaw",
"kLeftElbow",
"kLeftWristRoll",
"kLeftWristPitch",
"kLeftWristYaw",
"kLeftHandPinky",
"kLeftHandRing",
"kLeftHandMiddle",
"kLeftHandIndex",
"kLeftHandThumbBend",
"kLeftHandThumbRotation",
"kRightShoulderPitch",
"kRightShoulderRoll",
"kRightShoulderYaw",
"kRightElbow",
"kRightWristRoll",
"kRightWristPitch",
"kRightWristYaw",
"kRightHandPinky",
"kRightHandRing",
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],
"left_tactile_little_finger_tip",
"left_tactile_little_finger_nail",
"left_tactile_little_finger_pad",
"left_tactile_ring_finger_tip",
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"left_tactile_index_finger_pad",
"left_tactile_thumb_tip",
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"left_tactile_thumb_middle",
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"left_tactile_little_knuckle",
"left_tactile_ring_knuckle",
"left_tactile_middle_knuckle",
"left_tactile_index_knuckle",
"left_tactile_palm",
"right_tactile_little_finger_tip",
"right_tactile_little_finger_nail",
"right_tactile_little_finger_pad",
"right_tactile_ring_finger_tip",
"right_tactile_ring_finger_nail",
"right_tactile_ring_finger_pad",
"right_tactile_middle_finger_tip",
"right_tactile_middle_finger_nail",
"right_tactile_middle_finger_pad",
"right_tactile_index_finger_tip",
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]
},
"observation.images.cam_left_high": {
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3,
480,
848
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"names": [
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],
"info": {
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"video.height": 480,
"video.width": 848,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
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}
},
"timestamp": {
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},
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}
}
Citation
BibTeX:
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