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Datasets:
YiyangHuang
/
spoon_drawer

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Size:
10K - 100K
Tags:
LeRobot
Y
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License:
Dataset card Data Studio Files
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observation.state
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float32
0
40.2
frame_index
int64
0
1.21k
episode_index
int64
0
52
index
int64
0
20.5k
task_index
int64
0
0
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3
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3.1
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3.133333
94
0
94
0
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3.166667
95
0
95
0
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3.2
96
0
96
0
[ 18.54058074951172, -69.50560760498047, 63.7516975402832, 34.46327590942383, 38.49416732788086, 1.096319556236267, 0.03685956448316574, -98.14291381835938, 95.57162475585938, 66.88452911376953, -9.456954002380371, 1.3086990118026733 ]
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3.233333
97
0
97
0
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[ 18.632478713989258, -70.28619384765625, 65.15426635742188, 34.217281341552734, 22.085407257080078, 1.3495277166366577, -0.7081807255744934, -96.42857360839844, 95.407470703125, 66.22754669189453, -8.481675148010254, 2.8368794918060303 ]
3.266667
98
0
98
0
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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": 53,
    "total_frames": 20477,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:53"
    },
    "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": {
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            "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
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        },
        "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": [
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        },
        "observation.images.head": {
            "dtype": "video",
            "shape": [
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            "names": [
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                "width",
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            ],
            "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
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        },
        "observation.images.right": {
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            "shape": [
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            "names": [
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            "info": {
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                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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        },
        "observation.images.left": {
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            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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Downloads last month
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License:
apache-2.0
Size of downloaded dataset files:
1.07 MB
Size of the auto-converted Parquet files:
1.07 MB
Number of rows:
20,477

Models trained or fine-tuned on YiyangHuang/spoon_drawer