Datasets:
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observation.state
sequence | action
sequence | timestamp
float32 0
62
| frame_index
int64 0
1.24k
| episode_index
int64 0
50
| index
int64 0
24k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
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| 90
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| 92
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| 92
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| 93
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| 94
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| 95
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| 97
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| 98
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| 99
| 0
| 99
| 0
|
End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "g1",
"total_episodes": 51,
"total_frames": 23981,
"total_tasks": 1,
"total_videos": 51,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:51"
},
"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": [
19
],
"names": {
"joint": [
"R_pinky_intermediate_joint",
"R_ring_proximal_joint",
"R_ring_intermediate_joint",
"R_middle_intermediate_joint",
"R_thumb_intermediate_joint",
"R_thumb_distal_joint",
"R_thumb_proximal_yaw_joint",
"R_thumb_proximal_pitch_joint",
"R_index_intermediate_joint",
"R_middle_proximal_joint",
"R_pinky_proximal_joint",
"R_index_proximal_joint",
"right_shoulder_pitch_joint",
"right_wrist_yaw_joint",
"right_shoulder_yaw_joint",
"right_shoulder_roll_joint",
"right_wrist_roll_joint",
"right_elbow_joint",
"right_wrist_pitch_joint"
]
}
},
"action": {
"dtype": "float32",
"shape": [
13
],
"names": {
"displacement": [
"right_shoulder_pitch_joint",
"right_shoulder_roll_joint",
"right_shoulder_yaw_joint",
"right_elbow_joint",
"right_wrist_roll_joint",
"right_wrist_pitch_joint",
"right_wrist_yaw_joint",
"R_thumb_proximal_yaw_joint",
"R_thumb_proximal_pitch_joint",
"R_index_proximal_joint",
"R_middle_proximal_joint",
"R_ring_proximal_joint",
"R_pinky_proximal_joint"
]
}
},
"observation.images.head_cam": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
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"width",
"channel"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"timestamp": {
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"shape": [
1
],
"names": null
},
"frame_index": {
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],
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},
"episode_index": {
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1
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},
"index": {
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},
"task_index": {
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"shape": [
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"names": null
}
}
}
Citation
BibTeX:
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