Datasets:
Search is not available for this dataset
observation.state
sequence | action
sequence | observation.velocity
sequence | observation.effort
sequence | observation.images.cam_high
imagewidth (px) 640
640
| observation.images.cam_left_wrist
imagewidth (px) 640
640
| observation.images.cam_right_wrist
imagewidth (px) 640
640
| timestamp
float32 0
12
| frame_index
int64 0
599
| episode_index
int64 0
63
| index
int64 0
38.4k
| 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": "v2.0",
"robot_type": "aloha",
"total_episodes": 64,
"total_frames": 38400,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
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},
"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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"names": [
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"left_shoulder",
"left_elbow",
"left_forearm_roll",
"left_wrist_angle",
"left_wrist_rotate",
"left_gripper",
"right_waist",
"right_shoulder",
"right_elbow",
"right_forearm_roll",
"right_wrist_angle",
"right_wrist_rotate",
"right_gripper"
]
]
},
"action": {
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"names": [
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"left_shoulder",
"left_elbow",
"left_forearm_roll",
"left_wrist_angle",
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"left_gripper",
"right_waist",
"right_shoulder",
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"right_waist",
"right_shoulder",
"right_elbow",
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]
},
"observation.effort": {
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"names": [
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"left_gripper",
"right_waist",
"right_shoulder",
"right_elbow",
"right_forearm_roll",
"right_wrist_angle",
"right_wrist_rotate",
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]
]
},
"observation.images.cam_high": {
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640
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},
"observation.images.cam_left_wrist": {
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"task_index": {
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}
}
}
Citation
BibTeX:
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