Datasets:
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observation.state
sequence | action
sequence | observation.images.cam_high
imagewidth (px) 256
256
| observation.images.cam_left_wrist
imagewidth (px) 256
256
| observation.images.cam_right_wrist
imagewidth (px) 256
256
| timestamp
float32 0
58.3
| frame_index
int64 0
175
| episode_index
int64 0
226
| index
int64 0
24.4k
| task_index
int64 0
5
|
|---|---|---|---|---|---|---|---|---|---|
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End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "mobile_aloha",
"total_episodes": 400,
"total_frames": 41950,
"total_tasks": 10,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 3,
"splits": {
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},
"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": {
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14
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"names": [
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"right_waist",
"right_shoulder",
"right_elbow",
"right_forearm_roll",
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"right_wrist_rotate",
"right_gripper",
"left_waist",
"left_shoulder",
"left_elbow",
"left_forearm_roll",
"left_wrist_angle",
"left_wrist_rotate",
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]
]
},
"action": {
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"shape": [
14
],
"names": [
[
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"right_shoulder",
"right_elbow",
"right_forearm_roll",
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]
]
},
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3,
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},
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}
}
}
Citation
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