Datasets:
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action list | observation.state list | timestamp float32 0 38.9 | frame_index int64 0 1.17k | episode_index int64 0 50 | index int64 0 59.3k | task_index int64 0 0 |
|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "franka",
"total_episodes": 51,
"total_frames": 59280,
"total_tasks": 1,
"total_videos": 102,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:51"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
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"dtype": "float32",
"shape": [
8
],
"names": [
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"joint_7",
"gripper"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
8
],
"names": [
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"joint_2.pos",
"joint_3.pos",
"joint_4.pos",
"joint_5.pos",
"joint_6.pos",
"joint_7.pos",
"gripper.pos"
]
},
"observation.images.front": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
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"video.codec": "av1",
"video.pix_fmt": "yuv420p",
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"video.fps": 30,
"video.channels": 3,
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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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"video.width": 640,
"video.codec": "av1",
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"video.channels": 3,
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}
},
"timestamp": {
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},
"frame_index": {
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},
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},
"index": {
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"task_index": {
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}
}
}
Citation
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