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End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "ur5e_robotiq",
    "total_episodes": 1000,
    "total_frames": 247329,
    "total_tasks": 248,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:1000"
    },
    "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": [
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            "names": [
                "ee_x",
                "ee_y",
                "ee_z",
                "ee_qx",
                "ee_qy",
                "ee_qz",
                "ee_qw",
                "joint_0",
                "joint_1",
                "joint_2",
                "joint_3",
                "joint_4",
                "joint_5",
                "gripper"
            ]
        },
        "action": {
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            "shape": [
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            "names": [
                "x",
                "y",
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                "qy",
                "qz",
                "qw"
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        "attempt_idx": {
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            "names": [
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        "step_reward": {
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            "names": [
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            "names": [
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        "observation.images.front": {
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            "names": [
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            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.overview": {
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            "names": [
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            "info": {
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                "video.is_depth_map": false,
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        },
        "observation.images.gripper": {
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            "names": [
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        "timestamp": {
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        },
        "frame_index": {
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        "episode_index": {
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        "task_index": {
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    }
}

Citation

BibTeX:

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