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float32
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88.1
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int64
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2.64k
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int64
0
29
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61.4k
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int64
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1.966667
59
0
59
0
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[ -3231, 23239, -34985, 0, 26230, 2241, 98.69999694824219, 773, 11072, -818, -2788, 7611, 4719, 0.699999988079071 ]
2
60
0
60
0
[ -3231, 25422, -37341, 0, 26297, 2241, 98.69999694824219, 773, 11072, -818, -2788, 7611, 4719, 0.699999988079071 ]
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2.033333
61
0
61
0
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2.066667
62
0
62
0
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[ -3231, 29311, -41343, 439, 26607, 2241, 98.69999694824219, 773, 11072, -818, -2788, 7611, 4719, 0.699999988079071 ]
2.1
63
0
63
0
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2.133333
64
0
64
0
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2.166667
65
0
65
0
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2.2
66
0
66
0
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2.233333
67
0
67
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2.266667
68
0
68
0
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[ -2861, 41479, -55144, 6691, 34214, 2241, 98.69999694824219, 773, 11072, -818, -2788, 7611, 4719, 0.699999988079071 ]
2.3
69
0
69
0
[ -2365, 43362, -57137, 6909, 35100, 2095, 98.69999694824219, 773, 11072, -818, -2788, 7611, 4719, 0.699999988079071 ]
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2.333333
70
0
70
0
[ -1667, 45112, -59648, 6851, 36015, 1639, 98.69999694824219, 773, 11072, -818, -2788, 7611, 4719, 0.699999988079071 ]
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2.366667
71
0
71
0
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[ -763, 46752, -62064, 6690, 36714, 903, 98.69999694824219, 773, 11072, -818, -2788, 7611, 4719, 0.699999988079071 ]
2.4
72
0
72
0
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2.433333
73
0
73
0
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2.466667
74
0
74
0
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2.5
75
0
75
0
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2.533333
76
0
76
0
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2.566667
77
0
77
0
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2.6
78
0
78
0
[ 8166, 56060, -74860, 1975, 37616, -1891, 98.69999694824219, 773, 11072, -818, -2788, 7611, 4719, 0.699999988079071 ]
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2.633333
79
0
79
0
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2.666667
80
0
80
0
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2.7
81
0
81
0
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2.733333
82
0
82
0
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2.766667
83
0
83
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2.8
84
0
84
0
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2.833333
85
0
85
0
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2.866667
86
0
86
0
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2.9
87
0
87
0
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2.933333
88
0
88
0
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2.966667
89
0
89
0
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3
90
0
90
0
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3.033333
91
0
91
0
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3.066667
92
0
92
0
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[ 11909, 64645, -80126, -2251, 29204, -2517, 98.69999694824219, 773, 11072, -818, -2788, 7611, 4719, 0.699999988079071 ]
3.1
93
0
93
0
[ 12501, 65172, -80174, -3732, 28759, -2578, 98.69999694824219, 773, 11072, -818, -2788, 7611, 4719, 0.699999988079071 ]
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3.133333
94
0
94
0
[ 13207, 65844, -80238, -5213, 28242, -2643, 98.69999694824219, 773, 11072, -818, -2788, 7611, 4719, 0.699999988079071 ]
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3.166667
95
0
95
0
[ 13830, 66541, -80240, -6657, 27932, -2642, 98.69999694824219, 773, 11072, -818, -2788, 7611, 4719, 0.699999988079071 ]
[ 13830, 66541, -80240, -6657, 27932, -2642, 98.69999694824219, 773, 11072, -818, -2788, 7611, 4719, 0.699999988079071 ]
3.2
96
0
96
0
[ 14626, 67499, -80240, -7873, 27490, -2772, 98.69999694824219, 773, 11072, -818, -2788, 7611, 4719, 0.699999988079071 ]
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3.233333
97
0
97
0
[ 15465, 68521, -80240, -8741, 27151, -3124, 98.69999694824219, 773, 11072, -818, -2788, 7611, 4719, 0.699999988079071 ]
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3.266667
98
0
98
0
[ 16200, 69349, -80293, -9295, 26874, -3477, 98.69999694824219, 773, 11072, -818, -2788, 7611, 4719, 0.699999988079071 ]
[ 16200, 69349, -80293, -9295, 26874, -3477, 98.69999694824219, 773, 11072, -818, -2788, 7611, 4719, 0.699999988079071 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Description

Trash Items: CRUSHED_TISSUE_PAPER, TOILET_PAPER_ROLL, CRUSHED_CAN, WHOLE_CAN, PLASTIC_CUP. Non-trash items : 1 DETTOL, 1 AIR_FRESHNER, Variation Set_B009 : PAGE 10 to 39 Reject episode: 2-29 (left arm joint data not recorded)

Sink #1 , rectangle sink

3 cameras (top, right, left)

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "bi_piper",
    "total_episodes": 9,
    "total_frames": 17824,
    "total_tasks": 1,
    "total_videos": 27,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:9"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                "left_joint_1.pos",
                "left_joint_2.pos",
                "left_joint_3.pos",
                "left_joint_4.pos",
                "left_joint_5.pos",
                "left_joint_6.pos",
                "left_gripper.pos",
                "right_joint_1.pos",
                "right_joint_2.pos",
                "right_joint_3.pos",
                "right_joint_4.pos",
                "right_joint_5.pos",
                "right_joint_6.pos",
                "right_gripper.pos"
            ]
        },
        "observation.state": {
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            "shape": [
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            "names": [
                "left_joint_1.pos",
                "left_joint_2.pos",
                "left_joint_3.pos",
                "left_joint_4.pos",
                "left_joint_5.pos",
                "left_joint_6.pos",
                "left_gripper.pos",
                "right_joint_1.pos",
                "right_joint_2.pos",
                "right_joint_3.pos",
                "right_joint_4.pos",
                "right_joint_5.pos",
                "right_joint_6.pos",
                "right_gripper.pos"
            ]
        },
        "observation.images.top": {
            "dtype": "video",
            "shape": [
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                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.right": {
            "dtype": "video",
            "shape": [
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                424,
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
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                "video.width": 424,
                "video.codec": "av1",
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        },
        "observation.images.left": {
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            "names": [
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                "width",
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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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                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
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            "names": null
        },
        "frame_index": {
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            "names": null
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        "episode_index": {
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            "names": null
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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