Datasets:
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observation.state list | action list | timestamp float32 0 39.7 | frame_index int64 0 1.19k | episode_index int64 0 49 | index int64 0 42.3k | task_index int64 0 40 |
|---|---|---|---|---|---|---|
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11.472527503967285,
-94.85713958740234,
87.64835357666016,
57.406593322753906,
-88.26373291015625,
0.5890052318572998
] | [
14.865859985351562,
-90.15425109863281,
81.31172943115234,
59.962791442871094,
-88.06261444091797,
0.10984636098146439
] | 3.266667 | 98 | 0 | 98 | 0 |
[
12.703296661376953,
-93.0988998413086,
86.24176025390625,
58.46154022216797,
-88.26373291015625,
0.5890052318572998
] | [
14.865859985351562,
-90.15425109863281,
81.31172943115234,
59.962791442871094,
-88.06261444091797,
0.10984636098146439
] | 3.3 | 99 | 0 | 99 | 0 |
End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.images.board": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": null,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {}
}
},
"observation.images.wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": null,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {}
}
},
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
]
},
"action": {
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"shape": [
6
],
"names": [
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"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
]
},
"timestamp": {
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"shape": [
1
],
"names": null
},
"frame_index": {
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],
"names": null
},
"episode_index": {
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],
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},
"index": {
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],
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},
"task_index": {
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],
"names": null
}
},
"total_episodes": 50,
"total_frames": 42276,
"total_tasks": 41,
"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": "so101",
"splits": {
"train": "0:50"
}
}
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