Datasets:
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action list | observation.state list | timestamp float32 0 67.8 | frame_index int64 0 2.03k | episode_index int64 0 49 | index int64 0 44.3k | 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": "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": [
"joint1.pos",
"joint2.pos",
"joint3.pos",
"joint4.pos",
"joint5.pos",
"joint6.pos",
"gripper.pos",
"tcp.x",
"tcp.y",
"tcp.z"
],
"shape": [
10
]
},
"observation.images.head": {
"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,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {}
}
},
"observation.images.wrist": {
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"shape": [
480,
640,
3
],
"names": [
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],
"info": {
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"video.codec": "av1",
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"video.fps": 30,
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"video.g": 2,
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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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}
},
"total_episodes": 50,
"total_frames": 44270,
"total_tasks": 1,
"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": "rebot_rs_follower",
"splits": {
"train": "0:50"
}
}
Citation
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