Datasets:
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action
list | observation.state
list | timestamp
float32 0
38.3
| frame_index
int64 0
383
| episode_index
int64 0
49
| index
int64 0
15.8k
| task_index
int64 0
0
| wrist_camera.samdino
array 2D | side_camera.samdino
array 2D |
|---|---|---|---|---|---|---|---|---|
[
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1
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End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "Franka",
"total_episodes": 50,
"total_frames": 15794,
"total_tasks": 1,
"total_videos": 100,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:50"
},
"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": {
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8
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"gripper"
]
},
"observation.state": {
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"shape": [
8
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"gripper"
]
},
"observation.images.wrist_camera": {
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 720,
"video.width": 1280,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
},
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},
"observation.images.side_camera": {
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720,
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],
"names": [
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"width",
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],
"info": {
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"video.codec": "h264",
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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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},
"wrist_camera.samdino": {
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10,
768
],
"names": [
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],
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},
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],
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],
"dtype": "float32"
}
}
}
Citation
BibTeX:
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