Datasets:
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action listlengths 10 10 | observation.state listlengths 17 17 | timestamp float32 0 19.9 | frame_index int64 0 597 | episode_index int64 0 135 | index int64 0 41k | task_index int64 0 8 |
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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": [
"tcp.x",
"tcp.y",
"tcp.z",
"tcp.r1",
"tcp.r2",
"tcp.r3",
"tcp.r4",
"tcp.r5",
"tcp.r6",
"gripper.pos"
],
"shape": [
10
]
},
"observation.state": {
"dtype": "float32",
"names": [
"Joint_1.pos",
"Joint_2.pos",
"Joint_3.pos",
"Joint_4.pos",
"Joint_5.pos",
"Joint_6.pos",
"Joint_7.pos",
"Gripper.pos",
"tcp.x",
"tcp.y",
"tcp.z",
"tcp.r1",
"tcp.r2",
"tcp.r3",
"tcp.r4",
"tcp.r5",
"tcp.r6"
],
"shape": [
17
]
},
"observation.images.top": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"is_depth_map": false,
"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,
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}
},
"observation.images.wrist": {
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"shape": [
480,
640,
3
],
"names": [
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],
"info": {
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}
},
"timestamp": {
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1
],
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},
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1
],
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},
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},
"index": {
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},
"task_index": {
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],
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}
},
"total_episodes": 136,
"total_frames": 41024,
"total_tasks": 9,
"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": "nero_pico4",
"splits": {
"train": "0:136"
}
}
Citation
BibTeX:
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