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This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "ALOHA",
"total_episodes": 49,
"total_frames": 23520,
"total_tasks": 1,
"total_videos": 49,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 60.0,
"splits": {
"train": "0:49"
},
"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.state": {
"dtype": "float32",
"shape": [
42
],
"names": [
"state_0",
"state_1",
"state_2",
"state_3",
"state_4",
"state_5",
"state_6",
"state_7",
"state_8",
"state_9",
"state_10",
"state_11",
"state_12",
"state_13",
"state_14",
"state_15",
"state_16",
"state_17",
"state_18",
"state_19",
"state_20",
"state_21",
"state_22",
"state_23",
"state_24",
"state_25",
"state_26",
"state_27",
"state_28",
"state_29",
"state_30",
"state_31",
"state_32",
"state_33",
"state_34",
"state_35",
"state_36",
"state_37",
"state_38",
"state_39",
"state_40",
"state_41"
]
},
"action": {
"dtype": "float32",
"shape": [
14
],
"names": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5",
"motor_6",
"motor_7",
"motor_8",
"motor_9",
"motor_10",
"motor_11",
"motor_12",
"motor_13"
]
},
"timestamp": {
"dtype": "float64",
"shape": [
1
]
},
"task_index": {
"dtype": "int64",
"shape": [
1
]
},
"episode_index": {
"dtype": "int64",
"shape": [
1
]
},
"index": {
"dtype": "int64",
"shape": [
1
]
},
"next.done": {
"dtype": "bool",
"shape": [
1
]
},
"observation.images.head": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 60.0,
"video.codec": "mp4v",
"video.pix_fmt": "bgr24",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.left_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 60.0,
"video.codec": "mp4v",
"video.pix_fmt": "bgr24",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.right_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 60.0,
"video.codec": "mp4v",
"video.pix_fmt": "bgr24",
"video.is_depth_map": false,
"has_audio": false
}
}
}
}
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