Search is not available for this dataset
observation.state
sequence
action
sequence
timestamp
float32
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35
episode_index
int64
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frame_index
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next.reward
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2 classes
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[ -0.004848131909966469, 0.0019582833629101515, 0, 0, 0, 0, 0 ]
8.6
0
86
0
false
86
0
[ 0.5695240497589111, -0.22849558293819427, 0, 0, 0, 0, 0, 0 ]
[ -0.004160227254033089, 0.0008190371445380151, 0, 0, 0, 0, 0 ]
8.7
0
87
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false
87
0
[ 0.5660954713821411, -0.2278561145067215, 0, 0, 0, 0, 0, 0 ]
[ -0.0038816200103610754, 0.00017956702504307032, 0, 0, 0, 0, 0 ]
8.8
0
88
0
false
88
0
[ 0.5628153085708618, -0.2276133894920349, 0, 0, 0, 0, 0, 0 ]
[ -0.0032514696940779686, -0.00006316103099379689, 0, 0, 0, 0, 0 ]
8.9
0
89
0
false
89
0
[ 0.559898853302002, -0.2275870144367218, 0, 0, 0, 0, 0, 0 ]
[ -0.002835008781403303, -0.00008952420466812328, 0, 0, 0, 0, 0 ]
9
0
90
0
false
90
0
[ 0.5572868585586548, -0.22761088609695435, 0, 0, 0, 0, 0, 0 ]
[ -0.002823031973093748, -0.00006566460069734603, 0, 0, 0, 0, 0 ]
9.1
0
91
0
false
91
0
[ 0.5548660755157471, -0.22754772007465363, 0, 0, 0, 0, 0, 0 ]
[ -0.0036522161681205034, 0.00042117753764614463, 0, 0, 0, 0, 0 ]
9.2
0
92
0
false
92
0
[ 0.5517342686653137, -0.2270091325044632, 0, 0, 0, 0, 0, 0 ]
[ -0.003670427482575178, 0.0011325869709253311, 0, 0, 0, 0, 0 ]
9.3
0
93
0
false
93
0
[ 0.548511803150177, -0.22602857649326324, 0, 0, 0, 0, 0, 0 ]
[ -0.003547999309375882, 0.0017520292894914746, 0, 0, 0, 0, 0 ]
9.4
0
94
0
false
94
0
[ 0.5454069972038269, -0.2245340198278427, 0, 0, 0, 0, 0, 0 ]
[ -0.0025931752752512693, 0.0018574808491393924, 0, 0, 0, 0, 0 ]
9.5
0
95
0
false
95
0
[ 0.543289065361023, -0.2230631709098816, 0, 0, 0, 0, 0, 0 ]
[ -0.002225206233561039, 0.0018866240279749036, 0, 0, 0, 0, 0 ]
9.6
0
96
0
false
96
0
[ 0.5412062406539917, -0.22150325775146484, 0, 0, 0, 0, 0, 0 ]
[ -0.002242390299215913, 0.0011767095420509577, 0, 0, 0, 0, 0 ]
9.7
0
97
0
false
97
0
[ 0.5392860174179077, -0.22071540355682373, 0, 0, 0, 0, 0, 0 ]
[ -0.0019721619319170713, 0.000388858636142686, 0, 0, 0, 0, 0 ]
9.8
0
98
0
false
98
0
[ 0.5377088189125061, -0.22055204212665558, 0, 0, 0, 0, 0, 0 ]
[ -0.0003949891251977533, -0.001024505589157343, 0, 0, 0, 0, 0 ]
9.9
0
99
0
false
99
0

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "unknown",
    "total_episodes": 136,
    "total_frames": 27808,
    "total_tasks": 1,
    "total_videos": 272,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:136"
    },
    "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.wrist_image": {
            "dtype": "video",
            "shape": [
                240,
                320,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "video_info": {
                "video.fps": 10.0,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.image": {
            "dtype": "video",
            "shape": [
                240,
                320,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "video_info": {
                "video.fps": 10.0,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "language_instruction": {
            "dtype": "string",
            "shape": [
                1
            ],
            "names": null
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": {
                "motors": [
                    "motor_0",
                    "motor_1",
                    "motor_2",
                    "motor_3",
                    "motor_4",
                    "motor_5",
                    "motor_6",
                    "motor_7"
                ]
            }
        },
        "action": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": {
                "motors": [
                    "motor_0",
                    "motor_1",
                    "motor_2",
                    "motor_3",
                    "motor_4",
                    "motor_5",
                    "motor_6"
                ]
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "next.reward": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "next.done": {
            "dtype": "bool",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

@inproceedings{chi2023diffusionpolicy,
    title={Diffusion Policy: Visuomotor Policy Learning via Action Diffusion},
    author={Chi, Cheng and Feng, Siyuan and Du, Yilun and Xu, Zhenjia and Cousineau, Eric and Burchfiel, Benjamin and Song, Shuran},
    booktitle={Proceedings of Robotics: Science and Systems (RSS)},
    year={2023}
}
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