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sequence | observation.state
sequence | timestamp
float32 0
89.2
| frame_index
int64 0
2.68k
| episode_index
int64 0
64
| index
int64 0
66.2k
| task_index
int64 0
6
|
|---|---|---|---|---|---|---|
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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| 0
|
End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "so100",
"total_episodes": 65,
"total_frames": 66189,
"total_tasks": 7,
"total_videos": 260,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:65"
},
"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": {
"dtype": "float32",
"shape": [
6
],
"names": [
"main_shoulder_pan",
"main_shoulder_lift",
"main_elbow_flex",
"main_wrist_flex",
"main_wrist_roll",
"main_gripper"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"main_shoulder_pan",
"main_shoulder_lift",
"main_elbow_flex",
"main_wrist_flex",
"main_wrist_roll",
"main_gripper"
]
},
"observation.images.s_left": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
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}
},
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480,
640,
3
],
"names": [
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"channels"
],
"info": {
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}
},
"observation.images.gripper": {
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"shape": [
360,
640,
3
],
"names": [
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],
"info": {
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"video.codec": "h264",
"video.pix_fmt": "yuv420p",
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"has_audio": false
}
},
"observation.images.top": {
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360,
640,
3
],
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],
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}
},
"timestamp": {
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1
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},
"frame_index": {
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1
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},
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1
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},
"index": {
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1
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},
"task_index": {
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"shape": [
1
],
"names": null
}
}
}
Citation
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