Datasets:
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timestamp float32 0 111 | frame_index int64 0 1.11k | episode_index int64 0 9 | index int64 3.12k 13.7k | task_index int64 0 0 | observation.state listlengths 22 22 | action listlengths 22 22 |
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0 | 0 | 0 | 3,116 | 0 | [
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1 | 10 | 0 | 3,126 | 0 | [
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2.5 | 25 | 0 | 3,141 | 0 | [
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3.3 | 33 | 0 | 3,149 | 0 | [
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End of preview. Expand
in Data Studio
This dataset was created using Physical AI Tools and LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "ffw_sg2_rev1",
"total_episodes": 10,
"total_frames": 10559,
"total_tasks": 1,
"total_videos": 30,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:9"
},
"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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1
],
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},
"frame_index": {
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1
],
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},
"episode_index": {
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1
],
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},
"index": {
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],
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},
"task_index": {
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"shape": [
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],
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},
"observation.images.cam_head": {
"dtype": "video",
"names": [
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],
"shape": [
376,
672,
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],
"info": {
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"video.channels": 3,
"video.codec": "libx264",
"video.pix_fmt": "yuv420p"
}
},
"observation.images.cam_wrist_left": {
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],
"shape": [
240,
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],
"info": {
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}
},
"observation.images.cam_wrist_right": {
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"info": {
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}
},
"observation.state": {
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"names": [
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"arm_l_joint2",
"arm_l_joint3",
"arm_l_joint4",
"arm_l_joint5",
"arm_l_joint6",
"arm_l_joint7",
"gripper_l_joint1",
"arm_r_joint1",
"arm_r_joint2",
"arm_r_joint3",
"arm_r_joint4",
"arm_r_joint5",
"arm_r_joint6",
"arm_r_joint7",
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"lift_joint",
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],
"shape": [
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]
},
"action": {
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"names": [
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"gripper_l_joint1",
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"arm_r_joint2",
"arm_r_joint3",
"arm_r_joint4",
"arm_r_joint5",
"arm_r_joint6",
"arm_r_joint7",
"gripper_r_joint1",
"head_joint1",
"head_joint2",
"lift_joint",
"linear_x",
"linear_y",
"angular_z"
],
"shape": [
22
]
}
}
}
Citation
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