latentforce/act_policy5
Robotics • 51.7M • Updated • 36
Search is not available for this dataset
action listlengths 6 6 | observation.state listlengths 6 6 | timestamp float32 0 29.9 | frame_index int64 0 897 | episode_index int64 0 111 | index int64 0 101k | task_index int64 0 0 |
|---|---|---|---|---|---|---|
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-23.91208839416504,
21.9780216217041,
53.36263656616211,
-10.857142448425293,
24.83660125732422
] | [
13.450549125671387,
-28.571428298950195,
30.813186645507812,
54.989009857177734,
-9.09890079498291,
20.56641960144043
] | 3.266667 | 98 | 0 | 98 | 0 |
[
14.94505500793457,
-22.153846740722656,
20.74725341796875,
53.36263656616211,
-10.857142448425293,
24.83660125732422
] | [
13.450549125671387,
-26.901098251342773,
29.670330047607422,
54.989009857177734,
-9.09890079498291,
22.11733055114746
] | 3.3 | 99 | 0 | 99 | 0 |
End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6
]
},
"observation.state": {
"dtype": "float32",
"names": [
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"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6
]
},
"observation.images.top": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
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"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {}
}
},
"observation.images.wrist": {
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"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
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"video.height": 480,
"video.width": 640,
"video.codec": "av1",
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"has_audio": false,
"video.g": 2,
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"video.fast_decode": 0,
"video.video_backend": "pyav",
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}
},
"timestamp": {
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"shape": [
1
],
"names": null
},
"frame_index": {
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1
],
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},
"episode_index": {
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],
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},
"index": {
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],
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},
"task_index": {
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],
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}
},
"total_episodes": 112,
"total_frames": 100555,
"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": "so_follower",
"splits": {
"train": "0:112"
}
}
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