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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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1.82
91
0
91
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1.84
92
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92
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1.86
93
0
93
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1.88
94
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1.9
95
0
95
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1.92
96
0
96
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1.94
97
0
97
0
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1.96
98
0
98
0
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1.98
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "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": {
        "train": "0:64"
    },
    "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_waist",
                    "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"
                ]
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        },
        "action": {
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            "names": [
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                    "left_wrist_rotate",
                    "left_gripper",
                    "right_waist",
                    "right_shoulder",
                    "right_elbow",
                    "right_forearm_roll",
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        "observation.velocity": {
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            "names": [
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                    "left_wrist_rotate",
                    "left_gripper",
                    "right_waist",
                    "right_shoulder",
                    "right_elbow",
                    "right_forearm_roll",
                    "right_wrist_angle",
                    "right_wrist_rotate",
                    "right_gripper"
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        },
        "observation.effort": {
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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"
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        "observation.images.cam_high": {
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    }
}

Citation

BibTeX:

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