Datasets:
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action
list | observation.state
list | timestamp
float32 0
46.5
| frame_index
int64 0
1.39k
| episode_index
int64 0
41
| index
int64 0
29.1k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
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23.594675064086914
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[
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64.36990356445312,
57.47422790527344,
-73.13591003417969,
22.18429946899414
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| 96
| 0
| 96
| 0
|
[
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60.62360763549805,
44.904052734375,
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25.44378662109375
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[
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63.91659164428711,
55.154640197753906,
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| 97
| 0
| 97
| 0
|
[
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60.62360763549805,
42.08955383300781,
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[
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63.735267639160156,
52.57732009887695,
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| 98
| 0
| 98
| 0
|
[
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60.71269607543945,
39.019187927246094,
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[
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-43.11039352416992,
63.64460372924805,
50.08591079711914,
-76.09730529785156,
23.4129695892334
] | 3.3
| 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": "so101_follower",
"total_episodes": 6,
"total_frames": 4841,
"total_tasks": 1,
"total_videos": 12,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:6"
},
"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": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
]
},
"observation.images.up": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.front": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
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"shape": [
1
],
"names": null
},
"episode_index": {
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"shape": [
1
],
"names": null
},
"index": {
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"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
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