Datasets:
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observation.state list | action list | timestamp float32 0 5.98 | frame_index int64 0 299 | episode_index int64 0 124 | index int64 0 33.8k | 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": "aloha",
"total_episodes": 125,
"total_frames": 33823,
"total_tasks": 1,
"total_videos": 125,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
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},
"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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14
],
"names": {
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"left_waist",
"left_shoulder",
"left_elbow",
"left_forearm_roll",
"left_wrist_angle",
"left_wrist_rotate",
"left_gripper",
"right_waist",
"right_shoulder",
"right_elbow",
"right_forearm_roll",
"right_wrist_angle",
"right_wrist_rotate",
"right_gripper"
]
}
},
"action": {
"dtype": "float32",
"shape": [
14
],
"names": {
"motors": [
"left_waist",
"left_shoulder",
"left_elbow",
"left_forearm_roll",
"left_wrist_angle",
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"left_gripper",
"right_waist",
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]
}
},
"observation.images.top": {
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"shape": [
480,
640,
3
],
"names": [
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],
"info": {
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"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
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}
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}
}
}
Citation
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