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observation.state
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2 classes
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4.55
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4.7
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4.8
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4.9
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End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": null,
    "total_episodes": 10,
    "total_frames": 1160,
    "total_tasks": 1,
    "total_videos": 20,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 20,
    "splits": {
        "train": "0:10"
    },
    "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": {
        "observation.images.agentview": {
            "dtype": "video",
            "shape": [
                3,
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                128
            ],
            "names": [
                "c",
                "h",
                "w"
            ],
            "info": {
                "video.height": 128,
                "video.width": 128,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.robot0_eye_in_hand": {
            "dtype": "video",
            "shape": [
                3,
                128,
                128
            ],
            "names": [
                "c",
                "h",
                "w"
            ],
            "info": {
                "video.height": 128,
                "video.width": 128,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
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            ],
            "names": [
                "robot0_eef_pos_x",
                "robot0_eef_pos_y",
                "robot0_eef_pos_z",
                "robot0_eef_quat_w",
                "robot0_eef_quat_x",
                "robot0_eef_quat_y",
                "robot0_eef_quat_z",
                "robot0_gripper_qpos_0",
                "robot0_gripper_qpos_1"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
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            ],
            "names": [
                "eef_delta_pos_x",
                "eef_delta_pos_y",
                "eef_delta_pos_z",
                "eef_delta_rot_rx",
                "eef_delta_rot_ry",
                "eef_delta_rot_rz",
                "gripper_action"
            ]
        },
        "next.done": {
            "dtype": "bool",
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                1
            ],
            "names": [
                "done"
            ]
        },
        "timestamp": {
            "dtype": "float32",
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                1
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            "names": null
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        "frame_index": {
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        "episode_index": {
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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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