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observation.state
sequence | actions
sequence | observation.images.primary
imagewidth (px) 256
256
| observation.images.wrist
imagewidth (px) 256
256
| timestamp
float32 0
11.8
| frame_index
int64 0
118
| episode_index
int64 0
108
| index
int64 0
10.5k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|---|---|
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End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "franka",
"total_episodes": 109,
"total_frames": 10521,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:109"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": null,
"features": {
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"shape": [
8
],
"names": [
[
"joint_0",
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"joint_5",
"joint_6",
"gripper"
]
]
},
"actions": {
"dtype": "float32",
"shape": [
8
],
"names": [
"joint_action"
]
},
"observation.images.primary": {
"dtype": "image",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channels"
]
},
"observation.images.wrist": {
"dtype": "image",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
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]
},
"timestamp": {
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"shape": [
1
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},
"frame_index": {
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},
"index": {
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],
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},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
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