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float32
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19.9
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int64
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596
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int64
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2.9
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3
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3.166667
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95
0
[ -0.21168935298919678, 1.4618836641311646, 0.6059224009513855, 0.8467574119567871, -0.1672039031982422, -0.04601942375302315, 0.07868852466344833 ]
[ -0.2141985148191452, 1.4684901237487793, 0.6029220819473267, 0.846684992313385, -0.1680399775505066, -0.046730753034353256, 0.07860831171274185 ]
3.2
96
0
96
0
[ -0.21168935298919678, 1.4588156938552856, 0.6028544306755066, 0.8467574119567871, -0.1672039031982422, -0.04601942375302315, 0.07868852466344833 ]
[ -0.2134355753660202, 1.4684901237487793, 0.6036850810050964, 0.8463035225868225, -0.1680399775505066, -0.046730753034353256, 0.07868947833776474 ]
3.233333
97
0
97
0
[ -0.21168935298919678, 1.4557477235794067, 0.5997864603996277, 0.8467574119567871, -0.1672039031982422, -0.04601942375302315, 0.08360655605792999 ]
[ -0.2130540907382965, 1.4681086540222168, 0.6040665507316589, 0.846684992313385, -0.1680399775505066, -0.046730753034353256, 0.07868947833776474 ]
3.266667
98
0
98
0
[ -0.21168935298919678, 1.4511457681655884, 0.5936505794525146, 0.8467574119567871, -0.1672039031982422, -0.0475534051656723, 0.13278688490390778 ]
[ -0.212672621011734, 1.4665827751159668, 0.6040665507316589, 0.8463035225868225, -0.1680399775505066, -0.046730753034353256, 0.07917647063732147 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "fps": 30,
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "joint_1.pos",
                "joint_2.pos",
                "joint_3.pos",
                "joint_4.pos",
                "joint_5.pos",
                "joint_6.pos",
                "gripper.pos"
            ],
            "shape": [
                7
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "joint_1.pos",
                "joint_2.pos",
                "joint_3.pos",
                "joint_4.pos",
                "joint_5.pos",
                "joint_6.pos",
                "gripper.pos"
            ],
            "shape": [
                7
            ]
        },
        "observation.images.head": {
            "dtype": "video",
            "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": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist": {
            "dtype": "video",
            "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": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    },
    "total_episodes": 1,
    "total_frames": 597,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "robot_type": "dk1_follower",
    "splits": {
        "train": "0:1"
    }
}

Citation

BibTeX:

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