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observation.image imagewidth (px) 256 256 | observation.wrist_image_left imagewidth (px) 256 256 | observation.wrist_image_right imagewidth (px) 256 256 | observation.state list | action list | obj_init list | timestamp float32 0 67.2 | frame_index int64 0 1.34k | episode_index int64 0 9 | index int64 0 10.6k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
Demo Data Dual Arm
This dataset contains demonstrations for dual-arm robotic manipulation tasks.
Features
The dataset includes the following observation and action spaces:
Observations
observation.image: Main camera view (256x256x3)observation.wrist_image_left: Left wrist camera (256x256x3)observation.wrist_image_right: Right wrist camera (256x256x3)observation.state: Robot state (14-dimensional)
Actions
action: Robot actions (12-dimensional)
Additional Information
obj_init: Object initialization position (3-dimensional)timestamp: Frame timestampframe_index: Frame index within episodeepisode_index: Episode identifiertask_index: Task identifier
Task Description
Language Instruction: Dual arm manipulation demo
Data Format
The dataset follows the LeRobot format with:
- Image data stored directly in Parquet files as binary blobs
- Metadata stored in JSONL format
- Compatible with LeRobot v2.1
Usage
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("hellozjt/demo_data_dual")
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