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Datasets:
Aasdfip
/
skewer_pretrain_2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Libraries:
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pandas
Polars
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float32
frame_index
int64
episode_index
int64
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int64
task_index
int64
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2.2
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2.233333
67
0
67
0
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2.266667
68
0
68
0
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2.3
69
0
69
0
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2.333333
70
0
70
0
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2.366667
71
0
71
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2.4
72
0
72
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2.433333
73
0
73
0
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2.466667
74
0
74
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2.5
75
0
75
0
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2.533333
76
0
76
0
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2.566667
77
0
77
0
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2.6
78
0
78
0
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2.633333
79
0
79
0
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2.666667
80
0
80
0
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2.7
81
0
81
0
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[ -68.515625, -73.96269226074219, 79.91227722167969, 30.769229888916016, -0.8547008633613586, 76.04871368408203, 64.90520477294922, -94.59016418457031, 97.84297180175781, 68.04780578613281, -5.982905864715576, 38.048179626464844 ]
2.733333
82
0
82
0
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[ -68.515625, -71.90711975097656, 79.3859634399414, 28.571428298950195, -0.6593406796455383, 76.04871368408203, 64.90520477294922, -94.59016418457031, 97.84297180175781, 68.04780578613281, -5.982905864715576, 38.048179626464844 ]
2.766667
83
0
83
0
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2.8
84
0
84
0
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2.833333
85
0
85
0
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2.866667
86
0
86
0
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2.9
87
0
87
0
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2.933333
88
0
88
0
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2.966667
89
0
89
0
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3
90
0
90
0
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3.033333
91
0
91
0
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[ -68.515625, -65.58812713623047, 75.78947448730469, 22.907861709594727, -0.46398046612739563, 76.04871368408203, 64.90520477294922, -94.59016418457031, 97.84297180175781, 68.04780578613281, -5.982905864715576, 38.048179626464844 ]
3.066667
92
0
92
0
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3.1
93
0
93
0
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[ -68.515625, -64.29386901855469, 74.12281036376953, 22.82332992553711, -0.46398046612739563, 76.04871368408203, 64.90520477294922, -94.59016418457031, 97.84297180175781, 68.04780578613281, -5.982905864715576, 38.048179626464844 ]
3.133333
94
0
94
0
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3.166667
95
0
95
0
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[ -68.515625, -61.40083694458008, 72.01754760742188, 22.82332992553711, -0.46398046612739563, 76.04871368408203, 64.90520477294922, -94.59016418457031, 97.84297180175781, 68.04780578613281, -5.982905864715576, 38.048179626464844 ]
3.2
96
0
96
0
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[ -68.515625, -59.87818908691406, 70.78947448730469, 22.82332992553711, -0.2686202824115753, 76.04871368408203, 64.90520477294922, -94.59016418457031, 97.84297180175781, 68.04780578613281, -5.982905864715576, 38.048179626464844 ]
3.233333
97
0
97
0
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[ -68.515625, -58.20327377319336, 69.3859634399414, 22.82332992553711, 0.3663003742694855, 76.04871368408203, 64.90520477294922, -94.59016418457031, 97.84297180175781, 68.04780578613281, -5.982905864715576, 38.048179626464844 ]
3.266667
98
0
98
0
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[ -68.515625, -56.29996109008789, 67.80701446533203, 22.82332992553711, 1.196581244468689, 76.04871368408203, 64.90520477294922, -94.59016418457031, 97.84297180175781, 68.04780578613281, -5.982905864715576, 38.048179626464844 ]
3.3
99
0
99
0
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This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "bi_so_follower",
    "total_episodes": 2,
    "total_frames": 6113,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "left_shoulder_pan.pos",
                "left_shoulder_lift.pos",
                "left_elbow_flex.pos",
                "left_wrist_flex.pos",
                "left_wrist_roll.pos",
                "left_gripper.pos",
                "right_shoulder_pan.pos",
                "right_shoulder_lift.pos",
                "right_elbow_flex.pos",
                "right_wrist_flex.pos",
                "right_wrist_roll.pos",
                "right_gripper.pos"
            ],
            "shape": [
                12
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "left_shoulder_pan.pos",
                "left_shoulder_lift.pos",
                "left_elbow_flex.pos",
                "left_wrist_flex.pos",
                "left_wrist_roll.pos",
                "left_gripper.pos",
                "right_shoulder_pan.pos",
                "right_shoulder_lift.pos",
                "right_elbow_flex.pos",
                "right_wrist_flex.pos",
                "right_wrist_roll.pos",
                "right_gripper.pos"
            ],
            "shape": [
                12
            ]
        },
        "observation.images.left_wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.right_wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.right_top": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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