Datasets:
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observation.state
sequence | action
sequence | timestamp
float32 0
47.6
| episode_index
int64 0
49
| frame_index
int64 0
238
| next.reward
float32 0
1
| next.done
bool 2
classes | index
int64 0
11.9k
| task_index
int64 0
1
|
|---|---|---|---|---|---|---|---|---|
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End of preview. Expand
in Dataset Viewer.
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "unknown",
"total_episodes": 50,
"total_frames": 11925,
"total_tasks": 2,
"total_videos": 50,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 5,
"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": {
"observation.images.image": {
"dtype": "video",
"shape": [
120,
120,
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": [
13
],
"names": {
"motors": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5",
"motor_6",
"motor_7",
"motor_8",
"motor_9",
"motor_10",
"motor_11",
"motor_12"
]
}
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": {
"motors": [
"motor_0",
"motor_1",
"motor_2",
"motor_3",
"motor_4",
"motor_5",
"motor_6"
]
}
},
"timestamp": {
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1
],
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},
"episode_index": {
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},
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},
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},
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},
"index": {
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],
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},
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],
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}
}
}
Citation
BibTeX:
@Article{Osa22,
author = {Takayuki Osa},
journal = {The International Journal of Robotics Research},
title = {Motion Planning by Learning the Solution Manifold in Trajectory Optimization},
year = {2022},
number = {3},
pages = {291--311},
volume = {41},
}
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