Datasets:
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action
list | observation.state
list | timestamp
float32 0
28.4
| frame_index
int64 0
284
| episode_index
int64 0
90
| index
int64 0
12k
| task_index
int64 0
2
|
|---|---|---|---|---|---|---|
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[
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| 80
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[
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| 81
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[
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| 83
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[
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[
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[
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| 86
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[
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[
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| 87
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[
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[
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| 88
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[
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31.790000915527344,
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| 89
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[
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| 91
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| 91
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[
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| 92
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| 92
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32.255859375,
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67.5,
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120.76171875,
146.513671875
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[
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68.51000213623047,
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119.5999984741211,
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| 93
| 0
| 93
| 0
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[
32.958984375,
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66.796875,
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146.513671875
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[
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67.8499984741211,
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120.44999694824219,
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| 94
| 0
| 94
| 0
|
[
34.27734375,
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65.830078125,
-107.490234375,
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123.046875,
146.6015625
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[
32.56999969482422,
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67.18000030517578,
-107.58000183105469,
-86.75,
121.22000122070312,
0.75
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| 95
| 0
| 95
| 0
|
[
35.5078125,
-53.26171875,
65.0390625,
-107.578125,
-81.38671875,
123.92578125,
146.689453125
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[
33.709999084472656,
-52.720001220703125,
66.25,
-107.5199966430664,
-84.44000244140625,
122.5,
0.7699999809265137
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| 96
| 0
| 96
| 0
|
[
36.650390625,
-53.349609375,
64.3359375,
-107.9296875,
-79.8046875,
124.453125,
146.77734375
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[
34.880001068115234,
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65.44000244140625,
-107.52999877929688,
-82.37000274658203,
123.48999786376953,
0.7699999809265137
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| 97
| 0
| 97
| 0
|
[
37.6171875,
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63.80859375,
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124.892578125,
146.953125
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[
36.18000030517578,
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64.62000274658203,
-107.7699966430664,
-80.44000244140625,
124.23999786376953,
0.7699999809265137
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| 98
| 0
| 98
| 0
|
[
38.583984375,
-53.349609375,
63.720703125,
-108.28125,
-77.6953125,
124.98046875,
147.041015625
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[
37.099998474121094,
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64.08999633789062,
-108.05999755859375,
-79.19999694824219,
124.66999816894531,
0.75
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| 99
| 0
| 99
| 0
|
End of preview. Expand
in Data Studio
Merged LeRobot Dataset
This dataset was created by merging multiple LeRobot datasets using the LeRobot Data Studio merge tool.
Source Datasets
This merged dataset combines the following 3 datasets:
Merge Details
- Merge Date: Generated automatically
- Source Count: 3 datasets
- Episode Renumbering: Episodes are renumbered sequentially starting from 0
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "FRarm",
"total_episodes": 91,
"total_frames": 18877,
"total_tasks": 3,
"total_videos": 0,
"total_chunks": 0,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:91"
},
"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": {
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"main_shoulder_pan",
"main_shoulder_lift",
"main_elbow_flex",
"main_wrist_1",
"main_wrist_2",
"main_wrist_3",
"main_gripper"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
7
],
"names": [
"main_shoulder_pan",
"main_shoulder_lift",
"main_elbow_flex",
"main_wrist_1",
"main_wrist_2",
"main_wrist_3",
"main_gripper"
]
},
"observation.images.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": 10,
"video.channels": 3,
"has_audio": false
}
},
"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": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.angle": {
"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": 10,
"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": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
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