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sequence | observation.state
sequence | timestamp
float32 0
40
| frame_index
int64 0
400
| episode_index
int64 0
2
| index
int64 0
860
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
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| 2.7 | 27 | 0 | 27 | 0 |
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| 2.8 | 28 | 0 | 28 | 0 |
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| 2.9 | 29 | 0 | 29 | 0 |
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| 3 | 30 | 0 | 30 | 0 |
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| 3.1 | 31 | 0 | 31 | 0 |
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| 3.2 | 32 | 0 | 32 | 0 |
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| 3.3 | 33 | 0 | 33 | 0 |
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| 3.4 | 34 | 0 | 34 | 0 |
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| 7.1 | 71 | 0 | 71 | 0 |
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| 9 | 90 | 0 | 90 | 0 |
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| 9.3 | 93 | 0 | 93 | 0 |
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| 9.4 | 94 | 0 | 94 | 0 |
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| 9.5 | 95 | 0 | 95 | 0 |
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| 9.6 | 96 | 0 | 96 | 0 |
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| 9.7 | 97 | 0 | 97 | 0 |
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| 9.8 | 98 | 0 | 98 | 0 |
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| 9.9 | 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": "Franka",
"total_episodes": 3,
"total_frames": 861,
"total_tasks": 1,
"total_videos": 6,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"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": "float64",
"shape": [
8
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"gripper"
]
},
"observation.state": {
"dtype": "float64",
"shape": [
8
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"joint_7",
"gripper"
]
},
"observation.images.wrist_camera": {
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 720,
"video.width": 1280,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
},
"dtype": "video"
},
"observation.images.side_camera": {
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 720,
"video.width": 1280,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
},
"dtype": "video"
},
"timestamp": {
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],
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},
"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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},
"task_index": {
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"shape": [
1
],
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}
}
}
Citation
BibTeX:
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