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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
observation.state
sequence
observation.qvel
sequence
timestamp
float32
0
8.43
frame_index
int64
0
253
episode_index
int64
0
26
index
int64
0
5.3k
task_index
int64
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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
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-stationary",
    "total_episodes": 27,
    "total_frames": 5303,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:27"
    },
    "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",
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            "names": [
                "action_0",
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                "action_3",
                "action_4",
                "action_5",
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                "action_7",
                "action_8",
                "action_9",
                "action_10",
                "action_11",
                "action_12",
                "action_13"
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        },
        "observation.effort": {
            "dtype": "float32",
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            "names": [
                "effort_0",
                "effort_1",
                "effort_2",
                "effort_3",
                "effort_4",
                "effort_5",
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                "effort_7",
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        "observation.images.cam_high": {
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        },
        "observation.images.cam_left_wrist": {
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        },
        "observation.images.cam_right_wrist": {
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        "observation.state": {
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            "names": [
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                "qpos_6",
                "qpos_7",
                "qpos_8",
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        },
        "observation.qvel": {
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                "qvel_13"
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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