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sequence | observation.state
sequence | timestamp
float32 0
9.33
| frame_index
int64 0
140
| episode_index
int64 0
2
| index
int64 0
404
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
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] | 6.6 | 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": 3,
"total_frames": 405,
"total_tasks": 1,
"total_videos": 9,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:3"
},
"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": [
19
],
"names": [
"arm_right_right_shoulder_pitch",
"arm_right_right_shoulder_roll",
"arm_right_right_shoulder_yaw",
"arm_right_right_elbow",
"arm_right_right_wrist_yaw",
"arm_right_right_wrist_pitch",
"arm_right_right_wrist_roll",
"arm_right_right_gripper",
"arm_left_left_shoulder_pitch",
"arm_left_left_shoulder_roll",
"arm_left_left_shoulder_yaw",
"arm_left_left_elbow",
"arm_left_left_wrist_yaw",
"arm_left_left_wrist_pitch",
"arm_left_left_wrist_roll",
"arm_left_left_gripper",
"head_head_pitch",
"head_head_yaw",
"lift_lift"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
19
],
"names": [
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"arm_right_right_shoulder_roll",
"arm_right_right_shoulder_yaw",
"arm_right_right_elbow",
"arm_right_right_wrist_yaw",
"arm_right_right_wrist_pitch",
"arm_right_right_wrist_roll",
"arm_right_right_gripper",
"arm_left_left_shoulder_pitch",
"arm_left_left_shoulder_roll",
"arm_left_left_shoulder_yaw",
"arm_left_left_elbow",
"arm_left_left_wrist_yaw",
"arm_left_left_wrist_pitch",
"arm_left_left_wrist_roll",
"arm_left_left_gripper",
"head_head_pitch",
"head_head_yaw",
"lift_lift"
]
},
"observation.images.cam_wrist_1": {
"dtype": "video",
"shape": [
240,
424,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 240,
"video.width": 424,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
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}
},
"observation.images.cam_wrist_2": {
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424,
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],
"names": [
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],
"info": {
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}
},
"observation.images.cam_head": {
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"shape": [
376,
672,
3
],
"names": [
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],
"info": {
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"video.width": 672,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
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}
},
"timestamp": {
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1
],
"names": null
},
"frame_index": {
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1
],
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},
"episode_index": {
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1
],
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},
"index": {
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],
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},
"task_index": {
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"shape": [
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],
"names": null
}
}
}
Citation
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