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sequence
observation.effort
sequence
observation.images.cam_high
imagewidth (px)
848
848
observation.images.cam_left_wrist
imagewidth (px)
848
848
observation.images.cam_right_wrist
imagewidth (px)
848
848
observation.state
sequence
observation.qvel
sequence
timestamp
float32
0
8.12
frame_index
int64
0
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episode_index
int64
0
1
index
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0
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task_index
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1.98
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99
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This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "aloha-stationary",
    "total_episodes": 2,
    "total_frames": 770,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 50,
    "splits": {
        "train": "0:2"
    },
    "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": [
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            "names": [
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        },
        "observation.effort": {
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            "names": [
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                "effort_1",
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                "effort_3",
                "effort_4",
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                "effort_6",
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        "observation.images.cam_high": {
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            "names": [
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        },
        "observation.images.cam_left_wrist": {
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            "names": [
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        },
        "observation.images.cam_right_wrist": {
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            "names": [
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        },
        "observation.state": {
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            "names": [
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                "qpos_4",
                "qpos_5",
                "qpos_6",
                "qpos_7",
                "qpos_8",
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        },
        "observation.qvel": {
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            "names": [
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                "qvel_6",
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                "qvel_12",
                "qvel_13"
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        },
        "timestamp": {
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            "names": null
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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