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observation.state
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float32
0
34.2
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int64
0
342
episode_index
int64
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49
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int64
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13.8k
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wrist_camera.samdino
array 2D
side_camera.samdino
array 2D
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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",
    "total_episodes": 50,
    "total_frames": 13811,
    "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": {
        "action": {
            "dtype": "float64",
            "shape": [
                8
            ],
            "names": [
                "joint_0",
                "joint_1",
                "joint_2",
                "joint_3",
                "joint_4",
                "joint_5",
                "joint_6",
                "gripper"
            ]
        },
        "observation.state": {
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            "names": [
                "joint_0",
                "joint_1",
                "joint_2",
                "joint_3",
                "joint_4",
                "joint_5",
                "joint_6",
                "gripper"
            ]
        },
        "observation.images.wrist_camera": {
            "shape": [
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            "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
            },
            "dtype": "video"
        },
        "observation.images.side_camera": {
            "shape": [
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            "names": [
                "height",
                "width",
                "channels"
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            "info": {
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                "video.is_depth_map": false,
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        "timestamp": {
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            "names": null
        },
        "wrist_camera.samdino": {
            "shape": [
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            "names": [
                "slots",
                "dim_slot"
            ],
            "dtype": "float32"
        },
        "side_camera.samdino": {
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            "names": [
                "slots",
                "dim_slot"
            ],
            "dtype": "float32"
        }
    }
}

Citation

BibTeX:

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