Datasets:
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
The resolution of the image is set to 512, which can better serve smolVLA. Other parameters have also been added, including the size, position, and angle of objects within the field of view. All data of these parameters are stretched into one dimension and padded with zeros to a fixed length. Information about the relevant dimensions is placed in obj_num. The last dimension of action has been processed through 1 - np.clip(x, 0, 1).
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 433,
"total_frames": 52895,
"total_tasks": 10,
"total_videos": 866,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:433"
},
"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.images.image": {
"dtype": "video",
"shape": [
512,
512,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 512,
"video.width": 512,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.image2": {
"dtype": "video",
"shape": [
512,
512,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
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"video.width": 512,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"observation.state": {
"dtype": "float32",
"shape": [
8
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw",
"gripper",
"gripper"
]
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw",
"gripper"
]
},
"future.obj_ee_states": {
"dtype": "float32",
"shape": [
150
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
]
},
"future.obj_ee_quat_states": {
"dtype": "float32",
"shape": [
150
],
"names": [
"x",
"y",
"z",
"qx",
"qy",
"qz",
"qw"
]
},
"future.relevance": {
"dtype": "float32",
"shape": [
20
],
"names": [
"sim_0",
"sim_1",
"sim_2",
"sim_3",
"sim_4"
]
},
"class": {
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"shape": [
1
]
},
"obj_size": {
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"shape": [
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],
"names": [
"shp_0",
"shp_1",
"shp_2",
"shp_3",
"shp_4"
]
},
"obj_num": {
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"shape": [
4
],
"names": [
"obj_num",
"dim_obj_size",
"dim_ee",
"dim_ee_quat"
]
},
"timestamp": {
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"shape": [
1
],
"names": null
},
"frame_index": {
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"shape": [
1
],
"names": null
},
"episode_index": {
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"shape": [
1
],
"names": null
},
"index": {
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],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
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