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Datasets:
ducido
/
calvin_task_D_D_scale_30_lerobo_format

Tasks:
Robotics
Modalities:
Image
Time-series
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
calvin
lerobo
Libraries:
Datasets
Dask
Polars
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Dataset card Data Studio Files
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+ ---
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+ license: apache-2.0
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+ task_categories:
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+ - robotics
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+ tags:
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+ - LeRobot
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+ - calvin
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+ - lerobo
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+ configs:
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+ - config_name: default
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+ data_files: data/*/*.parquet
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+ ---
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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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+
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+
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+
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+ - **Homepage:** [More Information Needed]
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+ - **Paper:** [More Information Needed]
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+ - **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": "panda",
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+ "total_episodes": 1538,
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+ "total_frames": 91719,
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+ "total_tasks": 378,
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+ "total_videos": 0,
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+ "total_chunks": 2,
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+ "chunks_size": 1000,
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+ "fps": 10,
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+ "splits": {
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+ "train": "0:1538"
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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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+ "image": {
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+ "dtype": "image",
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+ "shape": [
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+ 200,
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+ 200,
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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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+ "channel"
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+ ]
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+ },
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+ "wrist_image": {
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+ "dtype": "image",
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+ "shape": [
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+ 84,
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+ 84,
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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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+ "channel"
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+ ]
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+ },
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+ "state": {
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+ "dtype": "float32",
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+ "shape": [
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+ 15
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+ ],
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+ "names": [
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+ "robo_obs"
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+ ]
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+ },
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+ "actions": {
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+ "dtype": "float32",
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+ "shape": [
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+ 7
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+ ],
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+ "names": [
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+ "actions"
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+ ]
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+ },
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+ "rel_actions": {
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+ "dtype": "float32",
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+ "shape": [
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+ 7
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+ ],
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+ "names": [
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+ "rel_actions"
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+ ]
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+ },
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+ "joint_actions": {
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+ "dtype": "float32",
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+ "shape": [
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+ 8
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+ ],
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+ "names": [
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+ "joint_actions"
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+ ]
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+ },
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+ "rel_joint_actions": {
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+ "dtype": "float32",
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+ "shape": [
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+ 8
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+ ],
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+ "names": [
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+ "rel_joint_actions"
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+ ]
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+ },
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+ "depth_gripper": {
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+ "dtype": "image",
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+ "shape": [
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+ 84,
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+ 84
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+ ],
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+ "names": [
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+ "height",
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+ "width"
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+ ]
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+ },
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+ "depth_static": {
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+ "dtype": "image",
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+ "shape": [
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+ 200,
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+ 200
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+ ],
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+ "names": [
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+ "height",
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+ "width"
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+ ]
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+ },
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+ "scene_obs": {
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+ "dtype": "float32",
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+ "shape": [
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+ 24
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+ ],
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+ "names": [
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+ "scene_obs"
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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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+ ```
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+
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+
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+ ## Citation
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+
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+ **BibTeX:**
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+
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+ ```bibtex
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+ [More Information Needed]
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+ ```