Datasets:
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timestamp float32 0 30 | frame_index int64 0 900 | episode_index int64 0 24 | index int64 0 22.5k | task_index int64 0 0 | observation.state list | action list |
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0.233333 | 7 | 0 | 7 | 0 | [
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0.333333 | 10 | 0 | 10 | 0 | [
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0.566667 | 17 | 0 | 17 | 0 | [
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0.666667 | 20 | 0 | 20 | 0 | [
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1 | 30 | 0 | 30 | 0 | [
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1.1 | 33 | 0 | 33 | 0 | [
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1.166667 | 35 | 0 | 35 | 0 | [
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1.2 | 36 | 0 | 36 | 0 | [
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1.3 | 39 | 0 | 39 | 0 | [
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1.333333 | 40 | 0 | 40 | 0 | [
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2.933333 | 88 | 0 | 88 | 0 | [
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3 | 90 | 0 | 90 | 0 | [
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3.033333 | 91 | 0 | 91 | 0 | [
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3.066667 | 92 | 0 | 92 | 0 | [
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3.1 | 93 | 0 | 93 | 0 | [
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3.133333 | 94 | 0 | 94 | 0 | [
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3.166667 | 95 | 0 | 95 | 0 | [
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3.2 | 96 | 0 | 96 | 0 | [
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3.233333 | 97 | 0 | 97 | 0 | [
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3.266667 | 98 | 0 | 98 | 0 | [
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3.3 | 99 | 0 | 99 | 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": "piper2",
"total_episodes": 25,
"total_frames": 22515,
"total_tasks": 1,
"total_videos": 50,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:25"
},
"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": {
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"shape": [
1
],
"names": null
},
"frame_index": {
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1
],
"names": null
},
"episode_index": {
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"shape": [
1
],
"names": null
},
"index": {
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1
],
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},
"task_index": {
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"shape": [
1
],
"names": null
},
"observation.images.cam_global": {
"dtype": "video",
"names": [
"height",
"width",
"channels"
],
"shape": [
480,
640,
3
],
"info": {
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "libx264",
"video.pix_fmt": "yuv420p"
}
},
"observation.images.cam_gripper": {
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"names": [
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],
"shape": [
480,
640,
3
],
"info": {
"video.height": 480,
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"video.channels": 3,
"video.codec": "libx264",
"video.pix_fmt": "yuv420p"
}
},
"observation.state": {
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"names": [
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"joint3",
"joint4",
"joint5",
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],
"shape": [
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]
},
"action": {
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"names": [
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"joint5",
"joint6",
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],
"shape": [
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]
}
}
}
Citation
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