Search is not available for this dataset
observation.images.cam_high imagewidth (px) 640 640 | observation.images.cam_left_wrist imagewidth (px) 640 640 | observation.images.cam_right_wrist imagewidth (px) 640 640 | observation.state list | action list | observation.ee_pose_left list | observation.ee_pose_right list | observation.ee_pose_cmd_left list | observation.ee_pose_cmd_right list | frame_index int64 0 547 | timestamp float32 0 18.2 | episode_index int64 0 152 | index int64 0 31.3k | task_index int64 0 0 |
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Task Preview
Autoplay preview of the banana pick-and-place task from the high camera viewpoint.
Files
assets/banana_task_preview.mp4: autoplay task preview video rendered from the original episode data.data/chunk-000/episode_*.parquet: all uploaded episodes with image observations and robot state/action fields.meta/tasks.jsonl: task definitions.meta/episodes.jsonl: episode index and length metadata.meta/episodes_stats.jsonl: per-episode statistics.meta/stats.json: aggregate dataset statistics.meta/info.json: dataset metadata shown below.
meta/info.json
{
"codebase_version": "v2.1",
"robot_type": "tron2_v4_claw_v0",
"fps": 30,
"features": {
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"dtype": "image",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
]
},
"observation.images.cam_left_wrist": {
"dtype": "image",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
]
},
"observation.images.cam_right_wrist": {
"dtype": "image",
"shape": [
480,
640,
3
],
"names": [
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"width",
"channel"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
16
],
"names": [
"abad_L_Joint",
"hip_L_Joint",
"yaw_L_Joint",
"knee_L_Joint",
"wrist_yaw_L_Joint",
"wrist_pitch_L_Joint",
"wrist_roll_L_Joint",
"left_gripper",
"abad_R_Joint",
"hip_R_Joint",
"yaw_R_Joint",
"knee_R_Joint",
"wrist_yaw_R_Joint",
"wrist_pitch_R_Joint",
"wrist_roll_R_Joint",
"right_gripper"
]
},
"action": {
"dtype": "float32",
"shape": [
16
],
"names": [
"abad_L_Joint",
"hip_L_Joint",
"yaw_L_Joint",
"knee_L_Joint",
"wrist_yaw_L_Joint",
"wrist_pitch_L_Joint",
"wrist_roll_L_Joint",
"left_gripper",
"abad_R_Joint",
"hip_R_Joint",
"yaw_R_Joint",
"knee_R_Joint",
"wrist_yaw_R_Joint",
"wrist_pitch_R_Joint",
"wrist_roll_R_Joint",
"right_gripper"
]
},
"observation.ee_pose_left": {
"dtype": "float32",
"shape": [
7
],
"names": [
"x",
"y",
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]
},
"observation.ee_pose_right": {
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},
"observation.ee_pose_cmd_left": {
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},
"observation.ee_pose_cmd_right": {
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"names": [
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},
"frame_index": {
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},
"timestamp": {
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},
"episode_index": {
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"index": {
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],
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},
"task_index": {
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],
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}
},
"total_episodes": 697,
"total_frames": 144544,
"total_tasks": 1,
"total_chunks": 1,
"total_videos": 0,
"chunks_size": 1000,
"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",
"splits": {
"train": "0:697"
}
}
- Downloads last month
- 120
License:
Apache-2.0
Task Objective:
Pick up the banana from the desk and place it on the plate.
Operational Objects:
banana and plate.
Recording Frequency:
30 Hz.
Robot Type:
tron2_v4_claw_v0.
End Effector:
claw grippers.
Dual-Arm Operation:
Yes.
Image Observations:
included.
Camera Positions:
high camera plus left and right wrist cameras.
Total Episodes:
697.
Total Frames:
144544.
Upload Scope:
full banana dataset upload with image observations preserved.
Number of rows:
144,544
Total file size:
23.3 GB