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Datasets:
griffinlabs-cortexai
/
07022026-afternoon

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
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float32
0
88.1
frame_index
int64
0
2.64k
episode_index
int64
0
29
index
int64
0
61.4k
task_index
int64
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1.933333
58
0
58
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1.966667
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0
59
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2
60
0
60
0
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2.033333
61
0
61
0
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2.066667
62
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62
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2.1
63
0
63
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2.133333
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64
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2.166667
65
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65
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2.2
66
0
66
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2.233333
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67
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2.266667
68
0
68
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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
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2.333333
70
0
70
0
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2.366667
71
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71
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2.4
72
0
72
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2.433333
73
0
73
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2.466667
74
0
74
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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
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2.633333
79
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79
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2.666667
80
0
80
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2.7
81
0
81
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2.733333
82
0
82
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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
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2.966667
89
0
89
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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
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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
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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
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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": {
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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",
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                "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": {
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                "video.is_depth_map": false,
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        },
        "observation.images.right": {
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        }
    }
}

Citation

BibTeX:

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