Datasets:
Search is not available for this dataset
observation.state
sequence | observation.force_torque
sequence | action
sequence | timestamp
float32 0
29.2
| frame_index
int64 0
292
| episode_index
int64 0
48
| index
int64 0
12.2k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|---|
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| 55
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| 60
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| 62
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| 63
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| 64
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[
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| 65
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[
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[
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| 67
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[
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| 68
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[
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| 69
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[
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[
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[
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| 71
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| 71
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[
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| 82
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| 84
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[
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[
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[
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[
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[
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[
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[
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[
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[
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| 91
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[
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[
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| 92
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[
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[
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| 93
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[
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[
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| 94
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[
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[
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| 95
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[
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[
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| 96
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[
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[
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| 97
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[
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[
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| 98
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[
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[
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[
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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": "ur5",
"total_episodes": 49,
"total_frames": 12164,
"total_tasks": 1,
"total_videos": 49,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:49"
},
"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": {
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": {
"joints": [
"j0",
"j1",
"j2",
"j3",
"j4",
"j5"
]
}
},
"observation.force_torque": {
"dtype": "float32",
"shape": [
6
],
"names": {
"force_torque": [
"fx",
"fy",
"fz",
"tx",
"ty",
"tz"
]
}
},
"action": {
"dtype": "float32",
"shape": [
4
],
"names": {
"displacement": [
"dx",
"dy",
"dz",
"drot_z"
]
}
},
"observation.images.front": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.fps": 10.0,
"video.height": 256,
"video.width": 256,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
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"shape": [
1
],
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},
"index": {
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1
],
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},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
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