Datasets:
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action
list | observation.state
list | timestamp
float32 0
117
| frame_index
int64 0
1.17k
| episode_index
int64 0
16
| index
int64 0
15.7k
| 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": "Franka",
"total_episodes": 17,
"total_frames": 15722,
"total_tasks": 1,
"total_videos": 34,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:17"
},
"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": {
"action": {
"dtype": "float64",
"shape": [
8
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"gripper"
]
},
"observation.state": {
"dtype": "float64",
"shape": [
8
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"joint_7",
"gripper"
]
},
"observation.images.wrist_camera": {
"shape": [
640,
480,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 640,
"video.width": 480,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
},
"dtype": "video"
},
"observation.images.side_camera": {
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640,
480,
3
],
"names": [
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"width",
"channels"
],
"info": {
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"video.width": 480,
"video.codec": "h264",
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"video.is_depth_map": false,
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},
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},
"timestamp": {
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"index": {
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"task_index": {
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"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
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