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sequencelengths 11
11
| observation.state
sequencelengths 11
11
| timestamp
float32 0
10.7
| frame_index
int64 0
322
| episode_index
int64 0
49
| index
int64 0
16.1k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
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-0.6381360292434692,
-0.006135923322290182,
0.005113269202411175,
8.157710075378418,
-0.07710138708353043,
0.00014276037109084427,
0.0015010701026767492
] | 3.3 | 99 | 0 | 99 | 0 |
End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "stretch3",
"total_episodes": 50,
"total_frames": 16109,
"total_tasks": 1,
"total_videos": 150,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"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": "float32",
"shape": [
11
],
"names": [
"head_pan.vel",
"head_tilt.vel",
"lift.vel",
"arm.vel",
"wrist_pitch.vel",
"wrist_roll.vel",
"wrist_yaw.vel",
"gripper.vel",
"base_x.vel",
"base_y.vel",
"base_theta.vel"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
11
],
"names": [
"head_pan.pos",
"head_tilt.pos",
"lift.pos",
"arm.pos",
"wrist_pitch.pos",
"wrist_roll.pos",
"wrist_yaw.pos",
"gripper.pos",
"base_x.pos",
"base_y.pos",
"base_theta.pos"
]
},
"observation.images.navigation": {
"dtype": "video",
"shape": [
1280,
720,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 1280,
"video.width": 720,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.head": {
"dtype": "video",
"shape": [
640,
480,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 640,
"video.width": 480,
"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": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"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
}
}
}
Citation
BibTeX:
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