mimiminsoo/pi0_base_lora_marker
Robotics • Updated • 60
Datasets:
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action listlengths 6 6 | observation.state listlengths 6 6 | timestamp float32 0 29.9 | frame_index int64 0 896 | episode_index int64 0 79 | index int64 0 32k | task_index int64 0 0 |
|---|---|---|---|---|---|---|
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] | 3.266667 | 98 | 0 | 98 | 0 |
[
-4.3315887451171875,
-3.4789657592773438,
-12.141281127929688,
80.29165649414062,
-39.389503479003906,
8.669766202729079e-7
] | [
-4.209434509277344,
-1.158233642578125,
-11.569107055664062,
82.49270629882812,
-39.01432800292969,
11.283137321472168
] | 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",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
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"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
]
},
"observation.images.wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"is_depth_map": false,
"video.fast_decode": null,
"video.crf": null,
"video.extra_options": {},
"video.video_backend": "pyav",
"video.preset": null,
"video.g": null
}
},
"observation.images.front": {
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"shape": [
480,
640,
3
],
"names": [
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"width",
"channels"
],
"info": {
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"video.width": 640,
"video.codec": "av1",
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"video.fps": 30,
"video.channels": 3,
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"video.fast_decode": null,
"video.crf": null,
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}
},
"timestamp": {
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"shape": [
1
],
"names": null
},
"frame_index": {
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],
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},
"episode_index": {
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},
"index": {
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},
"task_index": {
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],
"names": null
}
},
"total_episodes": 79,
"total_frames": 31357,
"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": "so101_follower",
"splits": {
"train": "0:79"
}
}
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