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Datasets:
NiryoRobotics
/
niryo_bag_folding_part_20

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
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Dask
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action
list
observation.state
list
timestamp
float32
0
47.2
frame_index
int64
0
943
episode_index
int64
0
9
index
int64
0
7.34k
task_index
int64
0
0
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2.35
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2.4
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2.45
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2.5
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50
0
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.7279691696167, -1.46484375, 98.08219146728516 ]
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 4.035216331481934, -10.280970573425293, -1.46484375, 98.26483917236328 ]
2.55
51
0
51
0
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.7279691696167, -1.513671875, 98.08219146728516 ]
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.280970573425293, -1.46484375, 98.26483917236328 ]
2.6
52
0
52
0
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.7279691696167, -1.46484375, 98.08219146728516 ]
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.280970573425293, -1.46484375, 98.26483917236328 ]
2.65
53
0
53
0
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.7279691696167, -1.46484375, 98.08219146728516 ]
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.280970573425293, -1.46484375, 98.26483917236328 ]
2.7
54
0
54
0
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.7279691696167, -1.46484375, 98.08219146728516 ]
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 4.035216331481934, -10.280970573425293, -1.46484375, 98.17351531982422 ]
2.75
55
0
55
0
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.7279691696167, -1.513671875, 98.08219146728516 ]
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.280970573425293, -1.46484375, 98.26483917236328 ]
2.8
56
0
56
0
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.7279691696167, -1.46484375, 98.08219146728516 ]
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.280970573425293, -1.513671875, 98.26483917236328 ]
2.85
57
0
57
0
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.7279691696167, -1.46484375, 98.08219146728516 ]
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.280970573425293, -1.46484375, 98.26483917236328 ]
2.9
58
0
58
0
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.7279691696167, -1.46484375, 98.08219146728516 ]
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.280970573425293, -1.46484375, 98.26483917236328 ]
2.95
59
0
59
0
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.7279691696167, -1.513671875, 98.08219146728516 ]
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.280970573425293, -1.46484375, 98.26483917236328 ]
3
60
0
60
0
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.7279691696167, -1.46484375, 98.08219146728516 ]
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.280970573425293, -1.46484375, 98.26483917236328 ]
3.05
61
0
61
0
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.7279691696167, -1.46484375, 98.08219146728516 ]
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 4.035216331481934, -10.280970573425293, -1.46484375, 98.26483917236328 ]
3.1
62
0
62
0
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.7279691696167, -1.46484375, 98.08219146728516 ]
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 4.035216331481934, -10.280970573425293, -1.46484375, 98.26483917236328 ]
3.15
63
0
63
0
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.7279691696167, -1.46484375, 98.08219146728516 ]
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 4.035216331481934, -10.280970573425293, -1.46484375, 98.17351531982422 ]
3.2
64
0
64
0
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.7279691696167, -1.46484375, 98.08219146728516 ]
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.280970573425293, -1.513671875, 98.26483917236328 ]
3.25
65
0
65
0
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.7279691696167, -1.46484375, 98.08219146728516 ]
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.280970573425293, -1.46484375, 98.26483917236328 ]
3.3
66
0
66
0
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.7279691696167, -1.46484375, 98.08219146728516 ]
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 4.035216331481934, -10.280970573425293, -1.46484375, 98.26483917236328 ]
3.35
67
0
67
0
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.7279691696167, -1.46484375, 98.08219146728516 ]
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.280970573425293, -1.46484375, 98.17351531982422 ]
3.4
68
0
68
0
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.7279691696167, -1.46484375, 98.08219146728516 ]
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.280970573425293, -1.46484375, 98.26483917236328 ]
3.45
69
0
69
0
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.7279691696167, -1.46484375, 98.08219146728516 ]
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 4.035216331481934, -10.280970573425293, -1.46484375, 98.26483917236328 ]
3.5
70
0
70
0
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.7279691696167, -1.46484375, 98.08219146728516 ]
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 4.035216331481934, -10.280970573425293, -1.513671875, 98.26483917236328 ]
3.55
71
0
71
0
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.7279691696167, -1.46484375, 98.08219146728516 ]
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.280970573425293, -1.46484375, 98.26483917236328 ]
3.6
72
0
72
0
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.7279691696167, -1.46484375, 98.08219146728516 ]
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.280970573425293, -1.46484375, 98.26483917236328 ]
3.65
73
0
73
0
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.7279691696167, -1.46484375, 98.08219146728516 ]
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 4.035216331481934, -10.280970573425293, -1.46484375, 98.26483917236328 ]
3.7
74
0
74
0
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.7279691696167, -1.46484375, 98.08219146728516 ]
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 4.035216331481934, -10.280970573425293, -1.46484375, 98.17351531982422 ]
3.75
75
0
75
0
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.7279691696167, -1.46484375, 98.08219146728516 ]
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.280970573425293, -1.46484375, 98.26483917236328 ]
3.8
76
0
76
0
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.7279691696167, -1.513671875, 98.08219146728516 ]
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.280970573425293, -1.513671875, 98.17351531982422 ]
3.85
77
0
77
0
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.7279691696167, -1.46484375, 98.08219146728516 ]
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.280970573425293, -1.513671875, 98.26483917236328 ]
3.9
78
0
78
0
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.7279691696167, -1.46484375, 98.08219146728516 ]
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.280970573425293, -1.46484375, 98.17351531982422 ]
3.95
79
0
79
0
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.7279691696167, -1.46484375, 98.08219146728516 ]
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.280970573425293, -1.46484375, 98.26483917236328 ]
4
80
0
80
0
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.7279691696167, -1.46484375, 98.08219146728516 ]
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.280970573425293, -1.46484375, 98.17351531982422 ]
4.05
81
0
81
0
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.7279691696167, -1.46484375, 98.08219146728516 ]
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.280970573425293, -1.46484375, 98.26483917236328 ]
4.1
82
0
82
0
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.7279691696167, -1.46484375, 98.08219146728516 ]
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 4.035216331481934, -10.280970573425293, -1.46484375, 98.26483917236328 ]
4.15
83
0
83
0
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.7279691696167, -1.46484375, 98.08219146728516 ]
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.280970573425293, -1.513671875, 98.26483917236328 ]
4.2
84
0
84
0
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.8151137828826904, -10.7279691696167, -1.46484375, 98.08219146728516 ]
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.280970573425293, -1.46484375, 98.17351531982422 ]
4.25
85
0
85
0
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.741746187210083, -10.7279691696167, -1.46484375, 98.08219146728516 ]
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.280970573425293, -1.46484375, 98.26483917236328 ]
4.3
86
0
86
0
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.7279691696167, -1.513671875, 98.08219146728516 ]
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.280970573425293, -1.46484375, 98.26483917236328 ]
4.35
87
0
87
0
[ -14.150197982788086, -54.9549560546875, -55.88888931274414, 3.8151137828826904, -10.344827651977539, -1.46484375, 98.08219146728516 ]
[ -14.202898979187012, -54.71471405029297, -56.22222137451172, 3.9618489742279053, -10.280970573425293, -1.513671875, 98.26483917236328 ]
4.4
88
0
88
0
[ -13.517786979675293, -55.67567443847656, -53.44444274902344, 3.741746187210083, -9.961686134338379, -1.46484375, 98.08219146728516 ]
[ -14.202898979187012, -54.71471405029297, -56.11111068725586, 3.9618489742279053, -10.280970573425293, -1.513671875, 98.26483917236328 ]
4.45
89
0
89
0
[ -12.25296401977539, -56.39639663696289, -48, 3.6683785915374756, -9.131545066833496, -1.46484375, 98.08219146728516 ]
[ -14.150197982788086, -55.0750732421875, -55.66666793823242, 3.9618489742279053, -10.217113494873047, -1.46484375, 98.26483917236328 ]
4.5
90
0
90
0
[ -10.461133003234863, -56.75675582885742, -40.66666793823242, 3.4482758045196533, -8.173690795898438, -1.46484375, 98.08219146728516 ]
[ -13.939393997192383, -55.67567443847656, -54.66666793823242, 3.9618489742279053, -9.833971977233887, -1.46484375, 98.26483917236328 ]
4.55
91
0
91
0
[ -8.24769401550293, -56.636634826660156, -34.22222137451172, 3.4482758045196533, -7.279693603515625, -1.513671875, 98.08219146728516 ]
[ -13.465085983276367, -56.276275634765625, -53.33333206176758, 3.888481378555298, -8.939974784851074, -1.513671875, 98.26483917236328 ]
4.6
92
0
92
0
[ -5.191040992736816, -56.636634826660156, -29.33333396911621, 3.595010995864868, -6.4495530128479, -1.513671875, 98.08219146728516 ]
[ -12.779973983764648, -56.75675582885742, -51.44444274902344, 3.595010995864868, -7.854406356811523, -1.513671875, 98.26483917236328 ]
4.65
93
0
93
0
[ -1.3965744972229004, -56.636634826660156, -26.22222137451172, 3.6683785915374756, -5.874840259552002, -1.513671875, 98.08219146728516 ]
[ -11.936758995056152, -56.87687683105469, -49.22222137451172, 3.595010995864868, -6.8326945304870605, -1.46484375, 98.17351531982422 ]
4.7
94
0
94
0
[ 3.0303030014038086, -56.516517639160156, -25, 3.6683785915374756, -5.491698741912842, -1.513671875, 98.08219146728516 ]
[ -10.777338981628418, -56.75675582885742, -46.55555725097656, 3.595010995864868, -6.066411018371582, -1.513671875, 98.26483917236328 ]
4.75
95
0
95
0
[ 8.24769401550293, -56.15615463256836, -25, 3.008070468902588, -4.916985988616943, -1.46484375, 98.08219146728516 ]
[ -9.459815979003906, -56.516517639160156, -43.33333206176758, 3.595010995864868, -5.619412422180176, -1.513671875, 98.26483917236328 ]
4.8
96
0
96
0
[ 13.781291007995605, -55.79579544067383, -25, 2.4211299419403076, -4.661558151245117, -1.46484375, 98.08219146728516 ]
[ -7.931488990783691, -56.39639663696289, -39.77777862548828, 3.595010995864868, -5.3001275062561035, -1.46484375, 98.26483917236328 ]
4.85
97
0
97
0
[ 19.15678596496582, -55.195194244384766, -24.88888931274414, 2.3477623462677, -4.278416156768799, -1.46484375, 98.08219146728516 ]
[ -6.245059490203857, -56.03603744506836, -36.44444274902344, 3.008070468902588, -4.916985988616943, -1.46484375, 98.26483917236328 ]
4.9
98
0
98
0
[ 23.95256996154785, -54.5945930480957, -24.77777862548828, 2.4211299419403076, -3.8952746391296387, -1.46484375, 98.08219146728516 ]
[ -4.242424011230469, -55.67567443847656, -33.55555725097656, 2.4211299419403076, -4.406130313873291, -1.513671875, 98.26483917236328 ]
4.95
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "ned2",
    "total_episodes": 10,
    "total_frames": 7338,
    "total_tasks": 1,
    "total_videos": 30,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 20,
    "splits": {
        "train": "0:10"
    },
    "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": [
                "base_to_arm.pos",
                "arm_to_elbow.pos",
                "elbow_to_forearm.pos",
                "forearm_to_hand.pos",
                "hand_to_shoulder.pos",
                "shoulder_to_wrist.pos",
                "gripper.pos"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "base_to_arm.pos",
                "arm_to_elbow.pos",
                "elbow_to_forearm.pos",
                "forearm_to_hand.pos",
                "hand_to_shoulder.pos",
                "shoulder_to_wrist.pos",
                "gripper.pos"
            ]
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
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}

Citation

BibTeX:

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