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README.md
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| 1 |
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---
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license: apache-2.0
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task_categories:
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- robotics
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tags:
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- LeRobot
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configs:
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- config_name: default
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data_files: data/*/*.parquet
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---
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This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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## Dataset Description
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- **Homepage:** [More Information Needed]
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- **Paper:** [More Information Needed]
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- **License:** apache-2.0
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## Dataset Structure
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[meta/info.json](meta/info.json):
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```json
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{
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"codebase_version": "v3.0",
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"robot_type": "r1_humanoid",
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"total_episodes": 77,
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"total_frames": 44886,
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"total_tasks": 1,
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"fps": 10,
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"splits": {
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"train": "0:77"
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},
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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"features": {
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"observation.state": {
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"dtype": "float32",
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"shape": [
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17
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],
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"names": [
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"right_shoulder_link_joint",
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"right_arm_top_link_joint",
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"right_arm_bottom_link_joint",
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"right_forearm_link_joint",
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"wrist_pitch_joint_r",
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| 50 |
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"wrist_roll_joint_r",
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| 51 |
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"thumb_joint_roll_r",
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| 52 |
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"index_proximal_joint_r",
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"middle_proximal_joint_r",
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"ring_proximal_joint_r",
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"little_proximal_joint_r",
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"thumb_proximal_joint_r",
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"index_proximal_joint_r_1",
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"middle_proximal_joint_r_1",
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| 59 |
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"ring_proximal_joint_r_1",
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"little_proximal_joint_r_1",
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| 61 |
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"thumb_proximal_joint_r_1"
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],
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"fps": 10
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},
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"action": {
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"dtype": "float32",
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| 67 |
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"shape": [
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17
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| 69 |
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],
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"names": [
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"right_shoulder_link_joint",
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| 72 |
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"right_arm_top_link_joint",
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| 73 |
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"right_arm_bottom_link_joint",
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| 74 |
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"right_forearm_link_joint",
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"wrist_pitch_joint_r",
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| 76 |
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"wrist_roll_joint_r",
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| 77 |
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"thumb_joint_roll_r",
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| 78 |
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"index_proximal_joint_r",
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"middle_proximal_joint_r",
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"ring_proximal_joint_r",
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"little_proximal_joint_r",
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"thumb_proximal_joint_r",
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| 83 |
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"index_proximal_joint_r_1",
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| 84 |
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"middle_proximal_joint_r_1",
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| 85 |
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"ring_proximal_joint_r_1",
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| 86 |
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"little_proximal_joint_r_1",
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| 87 |
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"thumb_proximal_joint_r_1"
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| 88 |
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],
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"fps": 10
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},
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"observation.images.rgb": {
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"dtype": "video",
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| 93 |
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"shape": [
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360,
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| 95 |
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640,
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3
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],
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"names": [
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"height",
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"width",
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"channels"
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],
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"info": {
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"video.fps": 10,
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"video.height": 360,
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"video.width": 640,
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"video.codec": "h264",
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"video.pix_fmt": "yuv420p"
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}
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},
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"timestamp": {
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"dtype": "float32",
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"shape": [
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1
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| 115 |
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],
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"names": null,
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"fps": 10
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},
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"frame_index": {
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"dtype": "int64",
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| 121 |
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"shape": [
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| 122 |
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1
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| 123 |
+
],
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| 124 |
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"names": null,
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| 125 |
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"fps": 10
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| 126 |
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},
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| 127 |
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"episode_index": {
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| 128 |
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"dtype": "int64",
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| 129 |
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"shape": [
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| 130 |
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1
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| 131 |
+
],
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| 132 |
+
"names": null,
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| 133 |
+
"fps": 10
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| 134 |
+
},
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| 135 |
+
"index": {
|
| 136 |
+
"dtype": "int64",
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| 137 |
+
"shape": [
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| 138 |
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1
|
| 139 |
+
],
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| 140 |
+
"names": null,
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| 141 |
+
"fps": 10
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| 142 |
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},
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| 143 |
+
"task_index": {
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| 144 |
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"dtype": "int64",
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| 145 |
+
"shape": [
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| 146 |
+
1
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| 147 |
+
],
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| 148 |
+
"names": null,
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| 149 |
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"fps": 10
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| 150 |
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}
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| 151 |
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},
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| 152 |
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"chunks_size": 1000,
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| 153 |
+
"data_files_size_in_mb": 100,
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| 154 |
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"video_files_size_in_mb": 200
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}
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```
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## Citation
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| 160 |
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| 161 |
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**BibTeX:**
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| 162 |
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| 163 |
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```bibtex
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| 164 |
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[More Information Needed]
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| 165 |
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```
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