airshop/Lego_task_complex_smallerContext
Robotics • Updated • 22
Datasets:
Search is not available for this dataset
action list | observation.state list | timestamp float32 0 30 | frame_index int64 0 901 | episode_index int64 0 69 | index int64 0 53.7k | task_index int64 0 0 |
|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Description
Pick up small lego block (pink) using left arm and place onto 2 x 1 (white), then right arm picks up combined block, places on 2 x 2 block (blue). In this setup, blue block is closer to right robot arm and pink block is closer to left robot arm, white block in between both.
- First 0-9 episodes: exact scenario above with fixed positions
- 10-24: pink block placement varies
- 26-40: white block placement varies
- 41-55: blue block placement varies
- 55-70: all 3 placements vary slightly
License: apache-2.0
Dataset Structure
{
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"robot_type": "bi_so_follower",
"total_episodes": 70,
"total_frames": 53685,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
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},
"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": {
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"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",
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"right_wrist_roll.pos",
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],
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12
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"right_wrist_flex.pos",
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},
"observation.images.left_wrist": {
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480,
640,
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"names": [
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},
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},
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},
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}
}
}
Citation
BibTeX:
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