Datasets:
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action
sequence | observation.state
sequence | timestamp
float32 0
58.7
| frame_index
int64 0
1.76k
| episode_index
int64 0
101
| index
int64 0
56k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
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0.012999000027775764,
0.17366400361061096,
0
] | [
0.19182200729846954,
-0.005909999832510948,
0.29095399379730225,
0.17649100720882416,
0.012999000027775764,
0.17366400361061096,
0
] | 3.166667 | 95 | 0 | 95 | 0 |
[
0.19182200729846954,
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0.29095399379730225,
0.17649100720882416,
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0.19182200729846954,
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0.17649100720882416,
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0
] | 3.2 | 96 | 0 | 96 | 0 |
[
0.19182200729846954,
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0.17649100720882416,
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0.19182200729846954,
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0
] | 3.233333 | 97 | 0 | 97 | 0 |
[
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0
] | 3.266667 | 98 | 0 | 98 | 0 |
[
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0.29095399379730225,
0.17649100720882416,
0.012999000027775764,
0.17366400361061096,
0
] | 3.3 | 99 | 0 | 99 | 0 |
End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "piper",
"total_episodes": 102,
"total_frames": 55954,
"total_tasks": 1,
"total_videos": 204,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:102"
},
"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": {
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"main_joint_1",
"main_joint_2",
"main_joint_3",
"main_joint_4",
"main_joint_5",
"main_joint_6",
"main_gripper"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
7
],
"names": [
"main_joint_1",
"main_joint_2",
"main_joint_3",
"main_joint_4",
"main_joint_5",
"main_joint_6",
"main_gripper"
]
},
"observation.images.wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.top": {
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"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"timestamp": {
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"shape": [
1
],
"names": null
},
"frame_index": {
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"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
BibTeX:
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