cagedBirdy/needle_insertion_xyzi_dp3_2048
Robotics • 0.3B • Updated • 25
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observation.pointcloud array 2D | observation.state list | action list | timestamp float32 0 37.9 | frame_index int64 0 569 | episode_index int64 0 59 | index int64 0 25.6k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|
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[[0.5715072154998779,0.2787277400493622,-0.6245487332344055,0.17843139171600342],[0.3333791494369507(...TRUNCATED) | [
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[[0.38100478053092957,0.28877198696136475,0.6823104023933411,0.24117648601531982],[0.190502360463142(...TRUNCATED) | [
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[[-0.6667584776878357,0.19335167109966278,0.06859201192855835,0.1666666865348816],[0.0,-0.0326438248(...TRUNCATED) | [
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[[0.3333791494369507,0.2787277400493622,-0.6534296274185181,0.07647061347961426],[0.0,-0.03264382481(...TRUNCATED) | [
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This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"fps": 15,
"features": {
"observation.pointcloud": {
"dtype": "float32",
"shape": [
2048,
4
],
"names": [
"N_points",
"XYZI"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
3
],
"names": [
"D_state"
]
},
"action": {
"dtype": "float32",
"shape": [
3
],
"names": [
"D_act"
]
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
},
"total_episodes": 60,
"total_frames": 25565,
"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": "staubli",
"splits": {
"train": "0:60"
}
}
Citation
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