Search is not available for this dataset
action sequence | observation.state sequence | timestamp float32 | frame_index int64 | episode_index int64 | index int64 | task_index int64 |
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This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "r1",
"total_episodes": 2,
"total_frames": 38,
"total_tasks": 1,
"total_videos": 4,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 5,
"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": {
"action": {
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20
],
"names": [
"left_arm_j1",
"left_arm_j2",
"left_arm_j3",
"left_arm_j4",
"left_arm_j5",
"left_arm_j6",
"left_arm_j7",
"right_arm_j1",
"right_arm_j2",
"right_arm_j3",
"right_arm_j4",
"right_arm_j5",
"right_arm_j6",
"right_arm_j7",
"torso_j1",
"torso_j2",
"torso_j3",
"torso_j4",
"left_gripper",
"right_gripper"
]
},
"observation.state": {
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"shape": [
20
],
"names": [
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"left_arm_j2",
"left_arm_j3",
"left_arm_j4",
"left_arm_j5",
"left_arm_j6",
"left_arm_j7",
"right_arm_j1",
"right_arm_j2",
"right_arm_j3",
"right_arm_j4",
"right_arm_j5",
"right_arm_j6",
"right_arm_j7",
"torso_j1",
"torso_j2",
"torso_j3",
"torso_j4",
"left_gripper",
"right_gripper"
]
},
"observation.images.head": {
"dtype": "video",
"shape": [
360,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 5.0,
"video.height": 360,
"video.width": 640,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.wrist_right": {
"dtype": "video",
"shape": [
480,
848,
3
],
"names": [
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],
"info": {
"video.fps": 5.0,
"video.height": 480,
"video.width": 848,
"video.channels": 3,
"video.codec": "h264",
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"video.is_depth_map": false,
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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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"shape": [
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],
"names": null
}
}
}
Citation
BibTeX:
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