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observation.state
list
action
list
observation.velocities
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timestamp
float32
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3.57
frame_index
int64
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107
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2.78k
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0.2
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0.3
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0.366667
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1
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "franka research 3",
    "total_episodes": 26,
    "total_frames": 10719,
    "total_tasks": 1,
    "total_videos": 26,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:26"
    },
    "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": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                8
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            "names": {
                "motors": [
                    "robot_arm_0",
                    "robot_arm_1",
                    "robot_arm_2",
                    "robot_arm_3",
                    "robot_arm_4",
                    "robot_arm_5",
                    "robot_arm_6",
                    "gripper"
                ]
            }
        },
        "action": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": {
                "motors": [
                    "robot_arm_0",
                    "robot_arm_1",
                    "robot_arm_2",
                    "robot_arm_3",
                    "robot_arm_4",
                    "robot_arm_5",
                    "robot_arm_6",
                    "gripper"
                ]
            }
        },
        "observation.velocities": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": {
                "motors": [
                    "robot_arm_0",
                    "robot_arm_1",
                    "robot_arm_2",
                    "robot_arm_3",
                    "robot_arm_4",
                    "robot_arm_5",
                    "robot_arm_6",
                    "gripper"
                ]
            }
        },
        "observation.images.main": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "rgb"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
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            "shape": [
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            ],
            "names": null
        },
        "frame_index": {
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                1
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            "names": null
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        "episode_index": {
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            "shape": [
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            "names": null
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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