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observation.state
sequence | actions
sequence | observation.images.primary
image | observation.images.wrist
image | timestamp
float32 | frame_index
int64 | episode_index
int64 | index
int64 | task_index
int64 |
|---|---|---|---|---|---|---|---|---|
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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": 220,
"total_frames": 21076,
"total_tasks": 2,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:220"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": null,
"features": {
"observation.state": {
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"shape": [
8
],
"names": [
[
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"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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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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