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Datasets:
Tna001
/
eval_pi05_lora_r16_lr3e4

Tasks:
Robotics
Modalities:
Video
Tags:
LeRobot
License:
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action
list
observation.state
list
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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4.5
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4.9
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5
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5.1
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5.3
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5.4
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5.5
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5.6
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[ 1.9425675868988037, -38.594970703125, 43.697105407714844, 43.50703048706055, -42.661781311035156, 0.9769713878631592 ]
5.7
57
0
57
0
[ -10.00741195678711, -34.92987823486328, 36.37214660644531, 40.246639251708984, -42.80994415283203, 0.5234766006469727 ]
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5.8
58
0
58
0
[ -12.93359661102295, -33.6346435546875, 34.33637237548828, 41.20551300048828, -42.83739471435547, 0.6990333795547485 ]
[ -6.418919086456299, -35.29922103881836, 42.27171325683594, 41.273780822753906, -42.661781311035156, 0.9769713878631592 ]
5.9
59
0
59
0
[ -15.146143913269043, -32.606353759765625, 32.294185638427734, 41.83854293823242, -42.951507568359375, 0.8428040742874146 ]
[ -9.966216087341309, -33.738075256347656, 40.579063415527344, 41.52191925048828, -42.661781311035156, 0.9769713878631592 ]
6
60
0
60
0
[ -16.869115829467773, -31.643882751464844, 30.52747344970703, 42.66368865966797, -42.91548156738281, 0.8680452108383179 ]
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6.1
61
0
61
0
[ -17.942331314086914, -30.966690063476562, 29.457317352294922, 43.08118438720703, -42.86667251586914, 0.8983379602432251 ]
[ -15.118243217468262, -31.48308753967285, 36.57015609741211, 42.34904861450195, -42.661781311035156, 0.9769713878631592 ]
6.2
62
0
62
0
[ -18.884199142456055, -30.502761840820312, 28.961387634277344, 43.215145111083984, -42.85429000854492, 0.9438642263412476 ]
[ -16.891891479492188, -30.7025146484375, 35.05567932128906, 42.8453254699707, -42.661781311035156, 0.9769713878631592 ]
6.3
63
0
63
0
[ -19.54961585998535, -29.823379516601562, 28.390304565429688, 43.0040397644043, -43.17560958862305, 1.0102697610855103 ]
[ -18.243244171142578, -30.182132720947266, 34.07572555541992, 42.8453254699707, -42.661781311035156, 0.9769713878631592 ]
6.4
64
0
64
0
[ -19.912202835083008, -29.28553009033203, 28.244768142700195, 42.71751022338867, -43.78104782104492, 1.0333532094955444 ]
[ -18.91891860961914, -29.575021743774414, 33.986637115478516, 42.8453254699707, -42.905982971191406, 0.9769713878631592 ]
6.5
65
0
65
0
[ -20.208515167236328, -28.797256469726562, 27.650270462036133, 43.25974655151367, -44.840782165527344, 1.0301700830459595 ]
[ -19.594594955444336, -29.05463981628418, 33.986637115478516, 42.8453254699707, -43.44322204589844, 0.9769713878631592 ]
6.6
66
0
66
0
[ -20.629575729370117, -28.46039581298828, 25.97698211669922, 44.717247009277344, -45.67667007446289, 1.1101161241531372 ]
[ -19.932432174682617, -28.447528839111328, 33.89754867553711, 43.0107536315918, -44.126983642578125, 0.9769713878631592 ]
6.7
67
0
67
0
[ -20.84019660949707, -28.08069610595703, 22.959165573120117, 47.5017204284668, -46.32837677001953, 1.162326455116272 ]
[ -20.101350784301758, -28.01387596130371, 32.561248779296875, 44.16873550415039, -45.10378646850586, 0.9769713878631592 ]
6.8
68
0
68
0
[ -21.143606185913086, -26.70716094970703, 19.736879348754883, 51.09703063964844, -47.192344665527344, 1.0819858312606812 ]
[ -20.608108520507812, -27.49349594116211, 30.066814422607422, 46.07113265991211, -45.93406677246094, 0.9769713878631592 ]
6.9
69
0
69
0
[ -20.966787338256836, -24.978431701660156, 17.336523056030273, 53.241111755371094, -47.556488037109375, 1.0481297969818115 ]
[ -20.692567825317383, -26.53946304321289, 26.85968780517578, 48.800662994384766, -46.71550750732422, 0.9769713878631592 ]
7
70
0
70
0
[ -20.91350746154785, -23.429244995117188, 16.146615982055664, 54.498085021972656, -47.57706069946289, 1.03703773021698 ]
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7.1
71
0
71
0
[ -20.761199951171875, -22.134872436523438, 14.697402000427246, 54.70599365234375, -47.601470947265625, 1.0319492816925049 ]
[ -20.861486434936523, -23.503902435302734, 21.959911346435547, 53.7634391784668, -47.4481086730957, 0.9769713878631592 ]
7.2
72
0
72
0
[ -20.608642578125, -20.621261596679688, 14.180176734924316, 55.29429626464844, -47.46659851074219, 1.1805576086044312 ]
[ -20.861486434936523, -22.02948760986328, 20.4454345703125, 54.590572357177734, -47.4481086730957, 0.9769713878631592 ]
7.3
73
0
73
0
[ -20.91172218322754, -19.120269775390625, 13.659086227416992, 55.259979248046875, -47.506832122802734, 1.1350409984588623 ]
[ -20.861486434936523, -20.555072784423828, 19.109130859375, 55.00413513183594, -47.4969482421875, 0.9769713878631592 ]
7.4
74
0
74
0
[ -20.980247497558594, -17.978546142578125, 13.639833450317383, 54.55385971069336, -47.528221130371094, 1.2662327289581299 ]
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7.5
75
0
75
0
[ -20.858261108398438, -16.87804412841797, 13.888289451599121, 54.79250717163086, -47.65390396118164, 1.293668270111084 ]
[ -20.861486434936523, -17.606245040893555, 18.6636962890625, 55.086849212646484, -47.594627380371094, 0.9769713878631592 ]
7.6
76
0
76
0
[ -20.96780014038086, -15.935440063476562, 14.538939476013184, 54.936744689941406, -47.691864013671875, 1.35512113571167 ]
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7.7
77
0
77
0
[ -20.817962646484375, -14.979812622070312, 14.7553129196167, 54.394474029541016, -47.71391296386719, 1.3798973560333252 ]
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7.8
78
0
78
0
[ -20.81589698791504, -14.32354736328125, 15.305817604064941, 54.74138641357422, -47.64704895019531, 1.2350118160247803 ]
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7.9
79
0
79
0
[ -20.783267974853516, -13.269241333007812, 15.077950477600098, 54.49515151977539, -47.670631408691406, 1.205948829650879 ]
[ -20.861486434936523, -13.70338249206543, 18.6636962890625, 55.086849212646484, -47.594627380371094, 0.9769713878631592 ]
8
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0
80
0
[ -20.55714988708496, -12.283676147460938, 14.41259765625, 54.539634704589844, -47.64161682128906, 1.2900667190551758 ]
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8.1
81
0
81
0
[ -20.67344856262207, -11.404823303222656, 13.966243743896484, 54.119651794433594, -47.68121337890625, 1.164846658706665 ]
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8.2
82
0
82
0
[ -20.44562530517578, -10.888397216796875, 13.913525581359863, 54.10841369628906, -47.809879302978516, 1.2122654914855957 ]
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8.3
83
0
83
0
[ -20.512340545654297, -10.668296813964844, 14.35722541809082, 54.025672912597656, -47.90723419189453, 1.1637589931488037 ]
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8.4
84
0
84
0
[ -20.463050842285156, -10.341690063476562, 14.760372161865234, 53.904415130615234, -47.967288970947266, 1.1965705156326294 ]
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8.5
85
0
85
0
[ -20.425270080566406, -10.414772033691406, 14.846033096313477, 53.77842712402344, -47.95903015136719, 1.2038567066192627 ]
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8.6
86
0
86
0
[ -20.357423782348633, -10.079124450683594, 15.01176929473877, 53.78322982788086, -47.96426773071289, 1.344193458557129 ]
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8.7
87
0
87
0
[ -20.500093460083008, -10.032859802246094, 15.176424026489258, 53.70658493041992, -48.06891632080078, 1.3406637907028198 ]
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8.8
88
0
88
0
[ -20.47750473022461, -10.001388549804688, 15.311479568481445, 53.779624938964844, -48.147430419921875, 1.3540078401565552 ]
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8.9
89
0
89
0
[ -20.511526107788086, -10.149032592773438, 15.801608085632324, 53.69558334350586, -48.26024627685547, 1.3319387435913086 ]
[ -20.861486434936523, -9.627059936523438, 18.6636962890625, 55.086849212646484, -48.03418731689453, 1.046755075454712 ]
9
90
0
90
0
[ -20.583173751831055, -10.0426025390625, 16.066783905029297, 53.73074722290039, -48.3406982421875, 1.4105432033538818 ]
[ -20.861486434936523, -9.627059936523438, 18.6636962890625, 55.086849212646484, -48.03418731689453, 1.046755075454712 ]
9.1
91
0
91
0
[ -20.51123809814453, -10.030975341796875, 16.05987548828125, 53.557472229003906, -48.36865234375, 1.4374308586120605 ]
[ -20.861486434936523, -9.627059936523438, 18.6636962890625, 55.086849212646484, -48.03418731689453, 1.1863224506378174 ]
9.2
92
0
92
0
[ -20.454673767089844, -10.225341796875, 16.16324234008789, 53.43041229248047, -48.35810089111328, 1.4476556777954102 ]
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9.3
93
0
93
0
[ -20.353355407714844, -10.773231506347656, 16.52118492126465, 53.03135681152344, -48.3812255859375, 1.4119279384613037 ]
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9.4
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0
94
0
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9.5
95
0
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0
[ -20.48868179321289, -10.786140441894531, 16.823740005493164, 53.157745361328125, -48.37016296386719, 1.3695687055587769 ]
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9.6
96
0
96
0
[ -20.382320404052734, -10.818061828613281, 17.247058868408203, 52.917762756347656, -48.45465087890625, 1.374831199645996 ]
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9.7
97
0
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0
[ -20.319486618041992, -10.412239074707031, 17.218656539916992, 53.037391662597656, -48.37995910644531, 1.4226206541061401 ]
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9.8
98
0
98
0
[ -20.543115615844727, -10.274734497070312, 17.40691566467285, 52.7738151550293, -48.33815002441406, 1.3309261798858643 ]
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9.9
99
0
99
0
End of preview.

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "so100_tactile_follower",
    "total_episodes": 2,
    "total_frames": 592,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 10,
    "splits": {
        "train": "0:2"
    },
    "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": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
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        },
        "observation.state": {
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            "names": [
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                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
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        },
        "observation.images.top": {
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            "shape": [
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            "names": [
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            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
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        },
        "timestamp": {
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            "shape": [
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            "names": null
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

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