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observation.state
sequence
action
sequence
timestamp
float32
0
7.8
episode_index
int64
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frame_index
int64
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39
next.reward
float32
0
1
next.done
bool
2 classes
index
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0
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task_index
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[ 0, 0, -0.00002378225326538086, 0, 0, 0, 0 ]
4.4
2
22
0
false
92
2
[ 1, -0.19996996223926544, 0.20000594854354858, 6.2831854820251465, 0, 6.2831854820251465, 1 ]
[ 0, 0, -0.00002378225326538086, 0, 0, 0, 0 ]
4.6
2
23
0
false
93
2
[ 1, -0.19996996223926544, 0.20000594854354858, 6.2831854820251465, 0, 6.2831854820251465, 1 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
4.8
2
24
1
false
94
2
[ 1, -0.19996996223926544, 0.20000594854354858, 6.2831854820251465, 0, 6.2831854820251465, 1 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
5
2
25
1
false
95
2
[ 1, -0.19996996223926544, 0.20000594854354858, 6.2831854820251465, 0, 6.2831854820251465, 1 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
5.2
2
26
1
false
96
2
[ 1, -0.19996996223926544, 0.20000594854354858, 6.2831854820251465, 0, 6.2831854820251465, 1 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
5.4
2
27
1
false
97
2
[ 1, -0.19996996223926544, 0.20000594854354858, 6.2831854820251465, 0, 6.2831854820251465, 1 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
5.6
2
28
1
false
98
2
[ 1, -0.19996996223926544, 0.20000594854354858, 6.2831854820251465, 0, 6.2831854820251465, 1 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
5.8
2
29
1
true
99
2

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "unknown",
    "total_episodes": 14,
    "total_frames": 440,
    "total_tasks": 12,
    "total_videos": 14,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 5,
    "splits": {
        "train": "0:14"
    },
    "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": {
            "dtype": "video",
            "shape": [
                84,
                84,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "video_info": {
                "video.fps": 5.0,
                "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": [
                7
            ],
            "names": {
                "motors": [
                    "motor_0",
                    "motor_1",
                    "motor_2",
                    "motor_3",
                    "motor_4",
                    "motor_5",
                    "motor_6"
                ]
            }
        },
        "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{haldar2023watch,
    title={Watch and match: Supercharging imitation with regularized optimal transport},
    author={Haldar, Siddhant and Mathur, Vaibhav and Yarats, Denis and Pinto, Lerrel},
    booktitle={Conference on Robot Learning},
    pages={32--43},
    year={2023},
    organization={PMLR}
}
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