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observation.state
sequence
action
sequence
timestamp
float32
episode_index
int64
frame_index
int64
next.reward
float32
next.done
bool
index
int64
task_index
int64
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This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "unknown",
    "total_episodes": 11834,
    "total_frames": 610907,
    "total_tasks": 1,
    "total_videos": 11834,
    "total_chunks": 12,
    "chunks_size": 1000,
    "fps": 3,
    "splits": {
        "train": "0:11834"
    },
    "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": {
        "observation.images.image": {
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            "shape": [
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            "names": [
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                "channel"
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            "video_info": {
                "video.fps": 3.0,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
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        },
        "language_instruction": {
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        "observation.state": {
            "dtype": "float32",
            "shape": [
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            "names": {
                "motors": [
                    "motor_0",
                    "motor_1",
                    "motor_2",
                    "motor_3",
                    "motor_4",
                    "motor_5",
                    "motor_6",
                    "motor_7",
                    "motor_8"
                ]
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        },
        "action": {
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            "shape": [
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            "names": {
                "motors": [
                    "motor_0",
                    "motor_1",
                    "motor_2",
                    "motor_3",
                    "motor_4",
                    "motor_5",
                    "motor_6"
                ]
            }
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        "timestamp": {
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        "episode_index": {
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        "frame_index": {
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        "next.reward": {
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        "next.done": {
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

@inproceedings{shah2021rapid,
    title={Rapid Exploration for Open-World Navigation with Latent Goal Models},
    author={Dhruv Shah and Benjamin Eysenbach and Nicholas Rhinehart and Sergey Levine},
    booktitle={5th Annual Conference on Robot Learning },
    year={2021},
    url={https://openreview.net/forum?id=d_SWJhyKfVw}
}
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