theayos/0225_residual_transformer_liberoS
Robotics • 32M • Updated • 4
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observation.images.image imagewidth (px) 256 256 | observation.images.wrist_image imagewidth (px) 256 256 | observation.state list | action list | timestamp float32 0 18.1 | frame_index int64 0 181 | episode_index int64 0 319 | index int64 0 39.2k | task_index int64 0 9 | vla_actions array 2D | vlm_hidden list |
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "panda",
"total_episodes": 432,
"total_frames": 52970,
"total_tasks": 10,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:432"
},
"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": {
"observation.images.image": {
"dtype": "image",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"fps": 10
},
"observation.images.wrist_image": {
"dtype": "image",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"fps": 10
},
"observation.state": {
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"shape": [
8
],
"names": {
"motors": [
"x",
"y",
"z",
"rx",
"ry",
"rz",
"rw",
"gripper"
]
},
"fps": 10
},
"action": {
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"shape": [
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],
"names": {
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"z",
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"pitch",
"yaw",
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]
},
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},
"timestamp": {
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1
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"vla_actions": {
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],
"names": [
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},
"vlm_hidden": {
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"shape": [
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],
"names": [
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]
}
}
}
Citation
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