ankile/real01b-routing-d1-r8-bigdp-vs-deployed-testing-heldout-sobol50
This dataset was created using LeRobot. Dataset Structure meta/info.json: { "codebase_version": "v3.0", "fps": 15, "features": { "observation.state": { "dtype": "float32", "shape": [ 7 ], "names": [ "cart_pos_x", "cart_pos_y", "cart_pos_z", "cart_rot_x", "cart_rot_y", "cart_rot_z"… See the full description on the dataset page: https://huggingface.co/datasets/ankile/real01b-routing-d1-r8-bigdp-vs-deployed-testing-heldout-sobol50.
This dataset was created using LeRobot.
<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=ankile/real01b-routing-d1-r8-bigdp-vs-deployed-testing-heldout-sobol50"> <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/> <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/> </a>
Dataset Description
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
meta/info.json:
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}Citation
BibTeX:
[More Information Needed]