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observation.state
list
action
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timestamp
float32
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37.1
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1.11k
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2.7
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3
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3.1
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3.2
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3.233333
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97
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3.266667
98
0
98
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3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "mobile",
    "total_episodes": 50,
    "total_frames": 50259,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                16
            ],
            "names": [
                "x.vel",
                "theta.vel",
                "left_joint_0.pos",
                "left_joint_1.pos",
                "left_joint_2.pos",
                "left_joint_3.pos",
                "left_joint_4.pos",
                "left_joint_5.pos",
                "left_left_carriage_joint.pos",
                "right_joint_0.pos",
                "right_joint_1.pos",
                "right_joint_2.pos",
                "right_joint_3.pos",
                "right_joint_4.pos",
                "right_joint_5.pos",
                "right_left_carriage_joint.pos"
            ]
        },
        "action": {
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            "shape": [
                16
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            "names": [
                "x.vel",
                "theta.vel",
                "left_joint_0.pos",
                "left_joint_1.pos",
                "left_joint_2.pos",
                "left_joint_3.pos",
                "left_joint_4.pos",
                "left_joint_5.pos",
                "left_left_carriage_joint.pos",
                "right_joint_0.pos",
                "right_joint_1.pos",
                "right_joint_2.pos",
                "right_joint_3.pos",
                "right_joint_4.pos",
                "right_joint_5.pos",
                "right_left_carriage_joint.pos"
            ]
        },
        "observation.images.cam_high": {
            "dtype": "video",
            "shape": [
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                640
            ],
            "names": [
                "channels",
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                "width"
            ],
            "video.fps": 30,
            "video.codec": "av1",
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            "video.is_depth_map": false,
            "has_audio": false,
            "info": {
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                "video.codec": "av1",
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                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.cam_left_wrist": {
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            "names": [
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                "width"
            ],
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            "video.codec": "av1",
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            "video.is_depth_map": false,
            "has_audio": false,
            "info": {
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                "video.codec": "av1",
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                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.cam_right_wrist": {
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            "shape": [
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                480,
                640
            ],
            "names": [
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                "height",
                "width"
            ],
            "video.fps": 30,
            "video.codec": "av1",
            "video.pix_fmt": "yuv420p",
            "video.is_depth_map": false,
            "has_audio": false,
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
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            ],
            "names": null
        },
        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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