escapebirdy/act_octe_4096
Robotics • 52.1M • Updated • 22
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observation.pointcloud array 2D | observation.state list | action list | timestamp float32 0 44.8 | frame_index int64 0 672 | episode_index int64 0 59 | index int64 0 25.6k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|
[[-0.17057527601718903,-0.6499999761581421,-0.04171847179532051,0.23333334922790527],[-0.23260262608(...TRUNCATED) | [
0,
0,
0
] | [
0,
0,
0,
-40
] | 0 | 0 | 0 | 0 | 0 |
[[-0.6667942404747009,-0.7666667103767395,-0.00647356640547514,0.060784339904785156],[-0.66679424047(...TRUNCATED) | [
0,
0,
0
] | [
0,
0,
0,
-40
] | 0.066667 | 1 | 0 | 1 | 0 |
[[-0.6667942404747009,-0.7593749761581421,-0.0769633799791336,0.06862747669219971],[-0.6667942404747(...TRUNCATED) | [
0,
0,
0
] | [
0,
0,
0,
-40
] | 0.133333 | 2 | 0 | 2 | 0 |
[[-0.6667942404747009,-0.7593749761581421,-0.0769633799791336,0.06862747669219971],[-0.6667942404747(...TRUNCATED) | [
0,
0,
0
] | [
0,
0,
0,
-40
] | 0.2 | 3 | 0 | 3 | 0 |
[[-0.6667942404747009,-0.7593749761581421,-0.08199837058782578,0.05686277151107788],[-0.666794240474(...TRUNCATED) | [
0,
0,
0
] | [
0,
0,
0,
-40
] | 0.266667 | 4 | 0 | 4 | 0 |
[[-0.6667942404747009,-0.7593749761581421,-0.08199837058782578,0.05686277151107788],[-0.666794240474(...TRUNCATED) | [
0,
0,
0
] | [
0,
0,
0,
-40
] | 0.333333 | 5 | 0 | 5 | 0 |
[[-0.6667942404747009,-0.7666667103767395,0.05898129194974899,0.052941203117370605],[-0.666794240474(...TRUNCATED) | [
0,
0,
0
] | [
0,
0,
0,
-40
] | 0.4 | 6 | 0 | 6 | 0 |
[[-0.6667942404747009,-0.7666667103767395,0.05898129194974899,0.052941203117370605],[-0.666794240474(...TRUNCATED) | [
0,
0,
0
] | [
0,
0,
0,
-40
] | 0.466667 | 7 | 0 | 7 | 0 |
[[-0.6667942404747009,-0.7447916269302368,0.11436616629362106,0.08823531866073608],[-0.6667942404747(...TRUNCATED) | [
0,
0,
0
] | [
0,
0,
0,
-40
] | 0.533333 | 8 | 0 | 8 | 0 |
[[-0.6667942404747009,-0.7447916269302368,0.11436616629362106,0.08823531866073608],[-0.6667942404747(...TRUNCATED) | [
0,
0,
0
] | [
0,
0,
0,
-40
] | 0.6 | 9 | 0 | 9 | 0 |
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This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"fps": 15,
"features": {
"observation.pointcloud": {
"dtype": "float32",
"shape": [
4096,
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": 60,
"total_frames": 25603,
"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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