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observation.state
list
action
list
timestamp
float32
0
13.3
frame_index
int64
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663
episode_index
int64
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499
index
int64
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222k
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int64
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1.6
80
0
80
0
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1.62
81
0
81
0
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1.64
82
0
82
0
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1.66
83
0
83
0
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1.68
84
0
84
0
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1.7
85
0
85
0
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1.72
86
0
86
0
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1.74
87
0
87
0
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1.76
88
0
88
0
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1.78
89
0
89
0
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1.8
90
0
90
0
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1.82
91
0
91
0
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1.84
92
0
92
0
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1.86
93
0
93
0
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1.88
94
0
94
0
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1.9
95
0
95
0
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1.92
96
0
96
0
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1.94
97
0
97
0
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1.96
98
0
98
0
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1.98
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",
    "robot_type": "openarm_bimanual_sim",
    "total_episodes": 500,
    "total_frames": 222451,
    "total_tasks": 5,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 50,
    "splits": {
        "train": "0:500"
    },
    "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",
    "features": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                9
            ],
            "names": [
                "joint1",
                "joint2",
                "joint3",
                "joint4",
                "joint5",
                "joint6",
                "joint7",
                "finger_joint1",
                "finger_joint2"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": [
                "joint1_target",
                "joint2_target",
                "joint3_target",
                "joint4_target",
                "joint5_target",
                "joint6_target",
                "joint7_target",
                "gripper_target"
            ]
        },
        "observation.images.wrist_left": {
            "dtype": "video",
            "shape": [
                480,
                480,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 480,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 50,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist_right": {
            "dtype": "video",
            "shape": [
                480,
                480,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 480,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 50,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.base": {
            "dtype": "video",
            "shape": [
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                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 480,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 50,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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        },
        "frame_index": {
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        "episode_index": {
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            "names": null
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        "index": {
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        }
    }
}

Citation

BibTeX:

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