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robot0_joint_pos
list
robot0_eef_pos
list
robot0_eef_quat_site
list
robot0_gripper_qpos
list
robot0_proprio-state
list
action
list
reward
float64
0
0
done
bool
1 class
timestamp
float32
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18.2
frame_index
int64
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363
episode_index
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273
index
int64
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End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "Panda",
    "total_episodes": 274,
    "total_frames": 47953,
    "total_tasks": 3,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:274"
    },
    "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": {
        "robot0_joint_pos": {
            "dtype": "float64",
            "shape": [
                7
            ],
            "names": [
                "joint0",
                "joint1",
                "joint2",
                "joint3",
                "joint4",
                "joint5",
                "joint6"
            ]
        },
        "robot0_eef_pos": {
            "dtype": "float64",
            "shape": [
                3
            ],
            "names": [
                "x",
                "y",
                "z"
            ]
        },
        "robot0_eef_quat_site": {
            "dtype": "float32",
            "shape": [
                4
            ],
            "names": [
                "qx",
                "qy",
                "qz",
                "qw"
            ]
        },
        "robot0_gripper_qpos": {
            "dtype": "float64",
            "shape": [
                2
            ],
            "names": [
                "q0",
                "q1"
            ]
        },
        "frontview_image": {
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            "shape": [
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                224
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "birdview_image": {
            "dtype": "video",
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                224
            ],
            "names": [
                "channels",
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            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "agentview_image": {
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            ],
            "names": [
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            "info": {
                "video.height": 224,
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                "video.is_depth_map": false,
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        },
        "sideview_image": {
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            "names": [
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            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "robot0_robotview_image": {
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            "names": [
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            "info": {
                "video.height": 224,
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                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "robot0_eye_in_hand_image": {
            "dtype": "video",
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                224
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "robot0_proprio-state": {
            "dtype": "float64",
            "shape": [
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            ],
            "names": [
                "robot0_joint_pos_0",
                "robot0_joint_pos_1",
                "robot0_joint_pos_2",
                "robot0_joint_pos_3",
                "robot0_joint_pos_4",
                "robot0_joint_pos_5",
                "robot0_joint_pos_6",
                "robot0_joint_pos_cos_0",
                "robot0_joint_pos_cos_1",
                "robot0_joint_pos_cos_2",
                "robot0_joint_pos_cos_3",
                "robot0_joint_pos_cos_4",
                "robot0_joint_pos_cos_5",
                "robot0_joint_pos_cos_6",
                "robot0_joint_pos_sin_0",
                "robot0_joint_pos_sin_1",
                "robot0_joint_pos_sin_2",
                "robot0_joint_pos_sin_3",
                "robot0_joint_pos_sin_4",
                "robot0_joint_pos_sin_5",
                "robot0_joint_pos_sin_6",
                "robot0_joint_vel_0",
                "robot0_joint_vel_1",
                "robot0_joint_vel_2",
                "robot0_joint_vel_3",
                "robot0_joint_vel_4",
                "robot0_joint_vel_5",
                "robot0_joint_vel_6",
                "robot0_joint_acc_0",
                "robot0_joint_acc_1",
                "robot0_joint_acc_2",
                "robot0_joint_acc_3",
                "robot0_joint_acc_4",
                "robot0_joint_acc_5",
                "robot0_joint_acc_6",
                "robot0_eef_pos_x",
                "robot0_eef_pos_y",
                "robot0_eef_pos_z",
                "robot0_eef_quat_x",
                "robot0_eef_quat_y",
                "robot0_eef_quat_z",
                "robot0_eef_quat_w",
                "robot0_eef_quat_site_x",
                "robot0_eef_quat_site_y",
                "robot0_eef_quat_site_z",
                "robot0_eef_quat_site_w",
                "robot0_gripper_qpos_0",
                "robot0_gripper_qpos_1",
                "robot0_gripper_qvel_0",
                "robot0_gripper_qvel_1"
            ]
        },
        "action": {
            "dtype": "float64",
            "shape": [
                7
            ],
            "names": [
                "x",
                "y",
                "z",
                "rx",
                "ry",
                "rz",
                "gripper"
            ]
        },
        "reward": {
            "dtype": "float64",
            "shape": [
                1
            ],
            "names": [
                "reward"
            ]
        },
        "done": {
            "dtype": "bool",
            "shape": [
                1
            ],
            "names": [
                "done"
            ]
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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