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sequence | observation.state
sequence | timestamp
float32 | frame_index
int64 | episode_index
int64 | index
int64 | task_index
int64 |
|---|---|---|---|---|---|---|
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0.00001034269189403858,
0.14999864995479584
] | 3.3 | 99 | 0 | 99 | 0 |
End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "ffw",
"total_episodes": 2,
"total_frames": 327,
"total_tasks": 1,
"total_videos": 6,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:2"
},
"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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"shape": [
16
],
"names": [
"arm_right_waist",
"arm_right_shoulder",
"arm_right_shoulder_shadow",
"arm_right_elbow",
"arm_right_elbow_shadow",
"arm_right_forearm_roll",
"arm_right_wrist_angle",
"arm_right_gripper",
"arm_left_waist",
"arm_left_shoulder",
"arm_left_shoulder_shadow",
"arm_left_elbow",
"arm_left_elbow_shadow",
"arm_left_forearm_roll",
"arm_left_wrist_angle",
"arm_left_gripper"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
16
],
"names": [
"arm_right_waist",
"arm_right_shoulder",
"arm_right_shoulder_shadow",
"arm_right_elbow",
"arm_right_elbow_shadow",
"arm_right_forearm_roll",
"arm_right_wrist_angle",
"arm_right_gripper",
"arm_left_waist",
"arm_left_shoulder",
"arm_left_shoulder_shadow",
"arm_left_elbow",
"arm_left_elbow_shadow",
"arm_left_forearm_roll",
"arm_left_wrist_angle",
"arm_left_gripper"
]
},
"observation.images.cam_head": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
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}
},
"observation.images.cam_wrist_1": {
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"shape": [
480,
640,
3
],
"names": [
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],
"info": {
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"video.width": 640,
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}
},
"observation.images.cam_wrist_2": {
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640,
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],
"names": [
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],
"info": {
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"has_audio": false
}
},
"timestamp": {
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"shape": [
1
],
"names": null
},
"frame_index": {
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1
],
"names": null
},
"episode_index": {
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"shape": [
1
],
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},
"index": {
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],
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},
"task_index": {
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"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
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