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Datasets:
andabi
/
D6

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
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  1. .DS_Store +0 -0
  2. README.md +197 -0
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1
+ ---
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+ license: apache-2.0
3
+ task_categories:
4
+ - robotics
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+ tags:
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+ - LeRobot
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+ configs:
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+ - config_name: default
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+ data_files: data/*/*.parquet
10
+ ---
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+
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+ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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+
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+ ## Dataset Description
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+
16
+
17
+
18
+ - **Homepage:** [More Information Needed]
19
+ - **Paper:** [More Information Needed]
20
+ - **License:** apache-2.0
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+
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+ ## Dataset Structure
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+
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+ [meta/info.json](meta/info.json):
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+ ```json
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+ {
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+ "codebase_version": "v2.0",
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+ "robot_type": "koch_bimanual",
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+ "total_episodes": 57,
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+ "total_frames": 12562,
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+ "total_tasks": 1,
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+ "total_videos": 171,
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+ "total_chunks": 1,
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+ "chunks_size": 1000,
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+ "fps": 15,
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+ "splits": {
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+ "train": "0:57"
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+ },
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+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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+ "features": {
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+ "action": {
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+ "dtype": "float32",
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+ "shape": [
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+ 12
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+ ],
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+ "names": [
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+ "left_shoulder_pan",
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+ "left_shoulder_lift",
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+ "left_elbow_flex",
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+ "left_wrist_flex",
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+ "left_wrist_roll",
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+ "left_gripper",
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+ "right_shoulder_pan",
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+ "right_shoulder_lift",
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+ "right_elbow_flex",
57
+ "right_wrist_flex",
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+ "right_wrist_roll",
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+ "right_gripper"
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+ ]
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+ },
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+ "observation.state": {
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+ "dtype": "float32",
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+ "shape": [
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+ 12
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+ ],
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+ "names": [
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+ "left_shoulder_pan",
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+ "left_shoulder_lift",
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+ "left_elbow_flex",
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+ "left_wrist_flex",
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+ "left_wrist_roll",
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+ "left_gripper",
74
+ "right_shoulder_pan",
75
+ "right_shoulder_lift",
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+ "right_elbow_flex",
77
+ "right_wrist_flex",
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+ "right_wrist_roll",
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+ "right_gripper"
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+ ]
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+ },
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+ "observation.images.bird": {
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+ "dtype": "video",
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+ "shape": [
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+ 480,
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+ 640,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "channels"
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+ ],
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+ "info": {
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+ "video.fps": 15.0,
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+ "video.height": 480,
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+ "video.width": 640,
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+ "video.channels": 3,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "has_audio": false
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+ }
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+ },
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+ "observation.images.wrist_left": {
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+ "dtype": "video",
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+ "shape": [
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+ 480,
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+ 640,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "channels"
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+ ],
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+ "info": {
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+ "video.fps": 15.0,
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+ "video.height": 480,
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+ "video.width": 640,
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+ "video.channels": 3,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "has_audio": false
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+ }
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+ },
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+ "observation.images.wrist_right": {
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+ "dtype": "video",
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+ "shape": [
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+ 480,
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+ 640,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "channels"
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+ ],
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+ "info": {
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+ "video.fps": 15.0,
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+ "video.channels": 3,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "has_audio": false
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+ }
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+ },
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+ "timestamp": {
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+ "dtype": "float32",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "frame_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "episode_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "task_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ }
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+ }
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+ }
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+ ```
189
+
190
+
191
+ ## Citation
192
+
193
+ **BibTeX:**
194
+
195
+ ```bibtex
196
+ [More Information Needed]
197
+ ```
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