Upload LeRobot dataset
Browse files
data/chunk-000/file-000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:a4c79313313a35f5760aa2c2c2347b81616b584d86a7b45394adacdc1bccc517
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size 289325
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meta/episodes/chunk-000/file-000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:01507e41f30ff1ebe3b1e0d2c8cafe200f4e53e5106ccf8e7ba388052e02bd40
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size 368931
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meta/info.json
ADDED
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@@ -0,0 +1,130 @@
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{
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"codebase_version": "v3.0",
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"robot_type": "ur5_rg2",
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"total_episodes": 82,
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"total_frames": 3669,
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"total_tasks": 16,
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"chunks_size": 1000,
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"data_files_size_in_mb": 100,
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"video_files_size_in_mb": 200,
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"fps": 30,
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"splits": {
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"train": "0:82"
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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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8
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],
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"names": [
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"joint_0",
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"joint_1",
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"joint_2",
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"joint_3",
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"joint_4",
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"joint_5",
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"gripper_pos",
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"gripper_state"
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]
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},
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"observation.images.top": {
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"dtype": "video",
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"shape": [
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480,
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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": 30.0,
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"video.height": 480,
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"video.width": 640,
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"video.channels": 3,
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"video.codec": "av1",
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"video.pix_fmt": "yuv420p",
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"video.is_depth_map": false,
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"has_audio": false
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}
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},
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"observation.images.wrist": {
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"dtype": "video",
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"shape": [
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640,
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3
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| 62 |
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],
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| 63 |
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"names": [
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| 64 |
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"height",
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| 65 |
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"width",
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| 66 |
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"channels"
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| 67 |
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],
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| 68 |
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"info": {
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| 69 |
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"video.fps": 30.0,
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| 70 |
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"video.height": 480,
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| 71 |
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"video.width": 640,
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| 72 |
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"video.channels": 3,
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| 73 |
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"video.codec": "av1",
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| 74 |
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"video.pix_fmt": "yuv420p",
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| 75 |
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"video.is_depth_map": false,
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| 76 |
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"has_audio": false
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| 77 |
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}
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| 78 |
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},
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| 79 |
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"action": {
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| 80 |
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"dtype": "float32",
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| 81 |
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"shape": [
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| 82 |
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7
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],
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| 84 |
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"names": [
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| 85 |
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"joint_0_vel",
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| 86 |
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"joint_1_vel",
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| 87 |
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"joint_2_vel",
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| 88 |
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"joint_3_vel",
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| 89 |
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"joint_4_vel",
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| 90 |
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"joint_5_vel",
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| 91 |
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"gripper"
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| 92 |
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]
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},
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| 94 |
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"timestamp": {
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| 95 |
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"dtype": "float32",
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"shape": [
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],
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"names": null
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},
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"frame_index": {
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"dtype": "int64",
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| 103 |
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"shape": [
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| 105 |
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],
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| 106 |
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"names": null
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| 107 |
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},
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| 108 |
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"episode_index": {
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"dtype": "int64",
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"shape": [
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"names": null
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"index": {
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"task_index": {
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"names": null
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}
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}
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}
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meta/stats.json
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