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Datasets:
SIGRoboticsUIUC
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homemade-matcha-dataset

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
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float32
0
77.3
frame_index
int64
0
2.32k
episode_index
int64
0
29
index
int64
0
53.2k
task_index
int64
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2.133333
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2.533333
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2.6
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2.633333
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2.666667
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2.7
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2.733333
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2.8
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2.833333
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2.9
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3
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3.1
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3.133333
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3.166667
95
0
95
0
[ 9.560723304748535, -100, 99.90834045410156, 74.68661499023438, -37.503055572509766, 5.944986820220947, -7.382550239562988, -48.54288101196289, 97.65660095214844, -0.7280513644218445, -55.24585723876953, 1.4179104566574097 ]
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3.2
96
0
96
0
[ 9.560723304748535, -100, 99.90834045410156, 74.68661499023438, -37.503055572509766, 5.944986820220947, -7.382550239562988, -46.71107482910156, 97.65660095214844, -3.29764461517334, -55.24585723876953, 1.4179104566574097 ]
[ 9.186101913452148, -99.6645736694336, 99.55297088623047, 74.51354217529297, -37.54531478881836, 5.606257915496826, -7.090674877166748, -52.663230895996094, 97.93999481201172, 6.0721869468688965, -55.56126403808594, 1.419354796409607 ]
3.233333
97
0
97
0
[ 9.560723304748535, -100, 99.90834045410156, 74.68661499023438, -37.503055572509766, 5.944986820220947, -7.382550239562988, -44.79600143432617, 97.65660095214844, -5.867237567901611, -55.24585723876953, 1.4179104566574097 ]
[ 9.186101913452148, -99.6645736694336, 99.55297088623047, 74.51354217529297, -37.54531478881836, 5.606257915496826, -7.090674877166748, -50.94501876831055, 97.93999481201172, 3.694267511367798, -55.56126403808594, 1.419354796409607 ]
3.266667
98
0
98
0
[ 9.560723304748535, -100, 99.90834045410156, 74.68661499023438, -37.503055572509766, 5.944986820220947, -7.382550239562988, -42.88093185424805, 97.65660095214844, -8.436830520629883, -55.24585723876953, 1.4179104566574097 ]
[ 9.186101913452148, -99.6645736694336, 99.55297088623047, 74.51354217529297, -37.54531478881836, 5.606257915496826, -7.090674877166748, -49.226802825927734, 97.85042572021484, 1.1464967727661133, -55.56126403808594, 1.419354796409607 ]
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": "bi_so101_follower",
    "total_episodes": 30,
    "total_frames": 53218,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:30"
    },
    "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",
            "names": [
                "left_shoulder_pan.pos",
                "left_shoulder_lift.pos",
                "left_elbow_flex.pos",
                "left_wrist_flex.pos",
                "left_wrist_roll.pos",
                "left_gripper.pos",
                "right_shoulder_pan.pos",
                "right_shoulder_lift.pos",
                "right_elbow_flex.pos",
                "right_wrist_flex.pos",
                "right_wrist_roll.pos",
                "right_gripper.pos"
            ],
            "shape": [
                12
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "left_shoulder_pan.pos",
                "left_shoulder_lift.pos",
                "left_elbow_flex.pos",
                "left_wrist_flex.pos",
                "left_wrist_roll.pos",
                "left_gripper.pos",
                "right_shoulder_pan.pos",
                "right_shoulder_lift.pos",
                "right_elbow_flex.pos",
                "right_wrist_flex.pos",
                "right_wrist_roll.pos",
                "right_gripper.pos"
            ],
            "shape": [
                12
            ]
        },
        "observation.images.top_depth": {
            "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": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.right": {
            "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": 30,
                "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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License:
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Number of rows:
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