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action list | observation.state list | timestamp float32 0 64.1 | frame_index int64 0 641 | episode_index int64 0 199 | index int64 0 75.8k | task_index int64 0 3 | observation.images.wrist_camera_slots array 2D | observation.images.wrist_camera_masks array 3D | observation.images.side_camera_slots array 2D | observation.images.side_camera_masks array 3D |
|---|---|---|---|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": null,
"total_episodes": 200,
"total_frames": 75843,
"total_tasks": 4,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:200"
},
"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",
"features": {
"action": {
"dtype": "float32",
"shape": [
8
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"gripper"
],
"fps": 10
},
"observation.state": {
"dtype": "float32",
"shape": [
8
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"gripper"
],
"fps": 10
},
"observation.images.wrist_camera": {
"shape": [
3,
224,
224
],
"names": [
"channels",
"height",
"width"
],
"fps": 10,
"dtype": "video",
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.side_camera": {
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3,
224,
224
],
"names": [
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"width"
],
"fps": 10,
"dtype": "video",
"info": {
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"video.width": 224,
"video.codec": "av1",
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"video.is_depth_map": false,
"video.fps": 10,
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}
},
"timestamp": {
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},
"frame_index": {
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},
"episode_index": {
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},
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},
"observation.images.wrist_camera_slots": {
"dtype": "float32",
"shape": [
8,
256
],
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},
"observation.images.wrist_camera_masks": {
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1,
8,
256
],
"names": null
},
"observation.images.side_camera_slots": {
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8,
256
],
"names": null
},
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1,
8,
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],
"names": null
}
}
}
Citation
BibTeX:
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