Datasets:
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observation.state list | action list | timestamp float32 0 26.1 | frame_index int64 0 782 | episode_index int64 0 23 | index int64 0 15.2k | task_index int64 0 0 |
|---|---|---|---|---|---|---|
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] | 3.3 | 99 | 0 | 99 | 0 |
End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.images.front": {
"dtype": "video",
"shape": [
240,
320,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 240,
"video.width": 320,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": null,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {},
"is_depth_map": false
}
},
"observation.state": {
"dtype": "float32",
"shape": [
10
],
"names": [
"tool0_x_m",
"tool0_y_m",
"tool0_z_m",
"rotation_col0_x",
"rotation_col0_y",
"rotation_col0_z",
"rotation_col1_x",
"rotation_col1_y",
"rotation_col1_z",
"gripper_position_raw"
]
},
"action": {
"dtype": "float32",
"shape": [
10
],
"names": [
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"tool0_y_m",
"tool0_z_m",
"rotation_col0_x",
"rotation_col0_y",
"rotation_col0_z",
"rotation_col1_x",
"rotation_col1_y",
"rotation_col1_z",
"gripper_close_intent"
]
},
"timestamp": {
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"shape": [
1
],
"names": null
},
"frame_index": {
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],
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},
"episode_index": {
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],
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},
"index": {
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],
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},
"task_index": {
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}
},
"total_episodes": 24,
"total_frames": 15204,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"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",
"robot_type": "ur3_robotiq",
"splits": {
"train": "0:24"
}
}
Citation
BibTeX:
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