selvaa/act_policy
Robotics • 51.7M • Updated • 5
Datasets:
Search is not available for this dataset
action list | observation.state list | timestamp float32 0 28.8 | frame_index int64 0 864 | episode_index int64 0 49 | index int64 0 25.2k | task_index int64 0 0 |
|---|---|---|---|---|---|---|
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-8.253037452697754,
-93.25179290771484,
91.82630920410156,
45.35235595703125,
6.1782660484313965,
20.590253829956055
] | 3.266667 | 98 | 0 | 98 | 0 |
[
-7.354733943939209,
-92.60204315185547,
80.96964263916016,
52.82937240600586,
6.471306324005127,
26.068735122680664
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-8.253037452697754,
-93.25179290771484,
90.3788833618164,
46.82230758666992,
6.1782660484313965,
22.23747444152832
] | 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",
"robot_type": "so_follower",
"total_episodes": 50,
"total_frames": 25224,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:50"
},
"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",
"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": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6
]
},
"observation.images.front": {
"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.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"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
}
}
}
Citation
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