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Datasets:
Rick0331
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tablewares_sort_ik4

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
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pandas
Polars
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observation.state
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float32
0
153
frame_index
int64
0
4.59k
episode_index
int64
0
8
index
int64
0
22.5k
task_index
int64
0
0
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[ 65.62500762939453, 9.703495979309082, -18.175085067749023, 90.85704040527344, 23.582674026489258, -15.016345024108887, -63.225852966308594, -49.123470306396484 ]
[ 62.08463668823242, 5.016167640686035, -12.884665489196777, 88.11624908447266, 17.8680477142334, -9.912121772766113, -60.2705078125, -49.145328521728516 ]
2.933333
88
0
88
0
[ 65.90599060058594, 10.386454582214355, -19.330453872680664, 91.06373596191406, 24.84952735900879, -15.983558654785156, -64.08953094482422, -49.123470306396484 ]
[ 62.08463668823242, 5.781160354614258, -14.217938423156738, 88.11624908447266, 19.17946434020996, -10.939397811889648, -61.16664505004883, -49.145328521728516 ]
2.966667
89
0
89
0
[ 66.18698120117188, 11.069414138793945, -20.485824584960938, 91.27043914794922, 26.11638069152832, -16.950773239135742, -64.95321655273438, -49.123470306396484 ]
[ 62.08463668823242, 6.262012958526611, -15.288928985595703, 88.11624908447266, 20.272310256958008, -11.813675880432129, -61.9097785949707, -49.145328521728516 ]
3
90
0
90
0
[ 66.46796417236328, 11.752372741699219, -21.641193389892578, 91.47713470458984, 27.38323402404785, -17.917987823486328, -65.81689453125, -49.123470306396484 ]
[ 62.08463668823242, 6.939578056335449, -16.38177490234375, 88.11624908447266, 21.6492977142334, -12.556811332702637, -62.69662857055664, -49.145328521728516 ]
3.033333
91
0
91
0
[ 66.74894714355469, 12.435332298278809, -22.79656410217285, 91.68383026123047, 28.65008544921875, -18.885202407836914, -66.68058013916016, -49.123470306396484 ]
[ 62.08463668823242, 7.7701416015625, -17.627620697021484, 88.11624908447266, 22.764001846313477, -13.715229034423828, -63.614620208740234, -49.145328521728516 ]
3.066667
92
0
92
0
[ 67.02993774414062, 13.118290901184082, -23.951932907104492, 91.89053344726562, 29.91693878173828, -19.8524169921875, -67.54425811767578, -49.123470306396484 ]
[ 62.08463668823242, 8.556991577148438, -18.82975196838379, 88.11624908447266, 24.228416442871094, -14.589507102966309, -64.44518280029297, -49.145328521728516 ]
3.1
93
0
93
0
[ 67.31092071533203, 13.801249504089355, -25.107301712036133, 92.09722900390625, 31.183792114257812, -20.819631576538086, -68.40794372558594, -49.123470306396484 ]
[ 62.10649108886719, 9.14712905883789, -19.92259979248047, 88.11624908447266, 25.299406051635742, -15.5293550491333, -65.27574920654297, -49.145328521728516 ]
3.133333
94
0
94
0
[ 67.59190368652344, 14.484209060668945, -26.262672424316406, 92.3039321899414, 32.450645446777344, -21.786846160888672, -69.27162170410156, -49.123470306396484 ]
[ 62.08463668823242, 9.933979034423828, -21.124731063842773, 88.11624908447266, 26.80753517150879, -16.491060256958008, -66.1500244140625, -49.145328521728516 ]
3.166667
95
0
95
0
[ 67.87289428710938, 15.167167663574219, -27.418041229248047, 92.51062774658203, 33.717498779296875, -22.754060745239258, -70.13530731201172, -49.123470306396484 ]
[ 62.10649108886719, 10.742685317993164, -22.23943519592285, 88.11624908447266, 27.769241333007812, -17.51833724975586, -66.9805908203125, -49.145328521728516 ]
3.2
96
0
96
0
[ 68.15387725830078, 15.850127220153809, -28.57341194152832, 92.71733093261719, 34.984352111816406, -23.72127342224121, -70.99898529052734, -49.123470306396484 ]
[ 62.10649108886719, 11.442107200622559, -23.3104248046875, 88.11624908447266, 29.1680850982666, -18.370758056640625, -67.8330078125, -49.145328521728516 ]
3.233333
97
0
97
0
[ 68.43486022949219, 16.5330867767334, -29.72878074645996, 92.92402648925781, 36.25120544433594, -24.688488006591797, -71.8626708984375, -49.123470306396484 ]
[ 62.12834930419922, 12.141529083251953, -24.534414291381836, 88.13810729980469, 30.326501846313477, -19.5073184967041, -68.68543243408203, -49.145328521728516 ]
3.266667
98
0
98
0
[ 68.71585083007812, 17.216045379638672, -30.884151458740234, 93.13072967529297, 37.51805877685547, -25.655702590942383, -72.72634887695312, -49.123470306396484 ]
[ 62.237632751464844, 12.884665489196777, -25.73654556274414, 88.13810729980469, 31.769060134887695, -20.403451919555664, -69.55970764160156, -49.16718292236328 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "openarm_follower",
    "total_episodes": 9,
    "total_frames": 22491,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:9"
    },
    "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",
            "shape": [
                8
            ],
            "names": [
                "joint_1.pos",
                "joint_2.pos",
                "joint_3.pos",
                "joint_4.pos",
                "joint_5.pos",
                "joint_6.pos",
                "joint_7.pos",
                "gripper.pos"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": [
                "joint_1.pos",
                "joint_2.pos",
                "joint_3.pos",
                "joint_4.pos",
                "joint_5.pos",
                "joint_6.pos",
                "joint_7.pos",
                "gripper.pos"
            ]
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
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                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "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": [
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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        },
        "task_index": {
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            "names": null
        }
    }
}

Citation

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