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vlm_embeddings array 2D | state list | base_actions array 2D | residual_actions array 2D | timestamp float32 0 7.98 | frame_index int64 0 399 | episode_index int64 0 49 | index int64 0 20k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "aloha",
"total_episodes": 50,
"total_frames": 20000,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:50"
},
"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": {
"vlm_embeddings": {
"dtype": "float16",
"shape": [
64,
256
],
"names": [
"vlm_embeddings"
]
},
"state": {
"dtype": "float32",
"shape": [
14
],
"names": [
"state"
]
},
"base_actions": {
"dtype": "float32",
"shape": [
50,
14
],
"names": [
"base_actions"
]
},
"residual_actions": {
"dtype": "float32",
"shape": [
50,
14
],
"names": [
"residual_actions"
]
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
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