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Datasets:
bushuyeu
/
aic_ft_demos

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
Community
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float32
0
29.9
frame_index
int64
0
598
episode_index
int64
0
99
index
int64
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59.9k
task_index
int64
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1.7
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1.75
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1.8
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1.85
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1.9
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1.95
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2
40
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2.05
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2.1
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2.15
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2.2
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2.25
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2.3
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2.35
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2.4
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2.45
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2.5
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2.55
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2.6
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2.65
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2.7
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2.75
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2.8
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2.85
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2.9
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58
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2.95
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59
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3
60
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60
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3.05
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61
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3.1
62
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62
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3.15
63
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63
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3.2
64
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64
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3.25
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3.3
66
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3.35
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67
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3.4
68
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68
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3.45
69
0
69
0
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3.5
70
0
70
0
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3.55
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0
71
0
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3.6
72
0
72
0
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3.65
73
0
73
0
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3.7
74
0
74
0
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3.75
75
0
75
0
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3.8
76
0
76
0
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3.85
77
0
77
0
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3.9
78
0
78
0
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3.95
79
0
79
0
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4
80
0
80
0
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4.05
81
0
81
0
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4.1
82
0
82
0
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4.15
83
0
83
0
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4.2
84
0
84
0
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4.25
85
0
85
0
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4.3
86
0
86
0
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4.35
87
0
87
0
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4.4
88
0
88
0
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4.45
89
0
89
0
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4.5
90
0
90
0
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4.55
91
0
91
0
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4.6
92
0
92
0
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4.65
93
0
93
0
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4.7
94
0
94
0
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4.75
95
0
95
0
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4.8
96
0
96
0
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4.85
97
0
97
0
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4.9
98
0
98
0
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4.95
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": "ur5e_aic",
    "total_episodes": 100,
    "total_frames": 59887,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:100"
    },
    "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": [
                "linear.x",
                "linear.y",
                "linear.z",
                "angular.x",
                "angular.y",
                "angular.z"
            ],
            "shape": [
                6
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "tcp_pose.position.x",
                "tcp_pose.position.y",
                "tcp_pose.position.z",
                "tcp_pose.orientation.x",
                "tcp_pose.orientation.y",
                "tcp_pose.orientation.z",
                "tcp_pose.orientation.w",
                "tcp_velocity.linear.x",
                "tcp_velocity.linear.y",
                "tcp_velocity.linear.z",
                "tcp_velocity.angular.x",
                "tcp_velocity.angular.y",
                "tcp_velocity.angular.z",
                "tcp_error.x",
                "tcp_error.y",
                "tcp_error.z",
                "tcp_error.rx",
                "tcp_error.ry",
                "tcp_error.rz",
                "joint_positions.0",
                "joint_positions.1",
                "joint_positions.2",
                "joint_positions.3",
                "joint_positions.4",
                "joint_positions.5",
                "joint_positions.6",
                "wrist_wrench.force.x",
                "wrist_wrench.force.y",
                "wrist_wrench.force.z",
                "wrist_wrench.torque.x",
                "wrist_wrench.torque.y",
                "wrist_wrench.torque.z"
            ],
            "shape": [
                32
            ]
        },
        "observation.images.left_camera": {
            "dtype": "video",
            "shape": [
                256,
                288,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 256,
                "video.width": 288,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
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}

Citation

BibTeX:

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License:
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