cagedBirdy/cut_xyzi_sparse_2048
Robotics • 0.3B • Updated • 39
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observation.pointcloud array 2D | observation.state list | action list | timestamp float32 0 31.8 | frame_index int64 0 477 | episode_index int64 0 111 | index int64 0 30.1k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|
[
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0.833935022354126,
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],
[
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],
[
0.3333793878555298,
0.3289490342140198,
0.9350180625915527,
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],
... | [
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[[0.14287695288658142,0.19837382435798645,0.6173284649848938,0.2686275243759155],[0.1905025839805603(...TRUNCATED) | [
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[[0.14287695288658142,0.15819686651229858,0.400721937417984,0.08431375026702881],[-0.238127946853637(...TRUNCATED) | [
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[[0.2857537567615509,-0.07784286141395569,-0.5018050670623779,0.11960786581039429],[0.57150751352310(...TRUNCATED) | [
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[[0.2857537567615509,-0.06779863685369492,-0.4801444113254547,0.08431375026702881],[0.33337938785552(...TRUNCATED) | [
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[[0.5715075135231018,0.2636614739894867,0.22021660208702087,0.07647061347961426],[-0.619132876396179(...TRUNCATED) | [
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[[0.1905025839805603,0.14313051104545593,-0.5523465871810913,0.24901962280273438],[0.142876952886581(...TRUNCATED) | [
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[[0.2857537567615509,-0.07784286141395569,-0.5018050670623779,0.09215688705444336],[0.57150751352310(...TRUNCATED) | [
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[[-0.6667584776878357,0.11801990121603012,-1.0,0.14705884456634521],[-0.5238816142082214,0.118019901(...TRUNCATED) | [
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] | 0.533333 | 8 | 0 | 8 | 0 |
[[0.1905025839805603,0.0979313999414444,0.205776184797287,0.15490198135375977],[-0.5715072751045227,(...TRUNCATED) | [
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] | [
0,
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0,
-40
] | 0.6 | 9 | 0 | 9 | 0 |
End of preview. Expand in Data Studio
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": [
4
],
"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": 112,
"total_frames": 30112,
"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": "0:112"
}
}
Citation
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