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Datasets:
guanfengliu
/
grab_brush_diff_bin_orient2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so101
grab cube
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Dask
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observation.state
list
timestamp
float32
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39.7
frame_index
int64
0
1.19k
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int64
0
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int64
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95.2k
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[ 26.982421875, 42.1875, 18.28125, 107.578125, 42.01171875, -0.25996533036231995 ]
[ 27.24609375, 40.341796875, 28.65234375, 98.4375, 53.96484375, -0.1665278971195221 ]
2.4
72
0
72
0
[ 27.0703125, 42.1875, 16.875, 109.3359375, 40.693359375, -0.25996533036231995 ]
[ 27.24609375, 40.341796875, 26.630859375, 98.7890625, 50.888671875, -0.1665278971195221 ]
2.433333
73
0
73
0
[ 27.0703125, 42.1875, 15.8203125, 111.005859375, 40.25390625, -0.25996533036231995 ]
[ 27.24609375, 40.341796875, 24.873046875, 99.140625, 47.98828125, -0.1665278971195221 ]
2.466667
74
0
74
0
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[ 27.24609375, 40.341796875, 23.203125, 99.404296875, 45.703125, -0.1665278971195221 ]
2.5
75
0
75
0
[ 27.0703125, 41.923828125, 14.501953125, 112.412109375, 40.166015625, -0.17331022024154663 ]
[ 27.24609375, 40.341796875, 21.884765625, 99.4921875, 44.12109375, -0.1665278971195221 ]
2.533333
76
0
76
0
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[ 27.158203125, 40.341796875, 20.7421875, 99.66796875, 43.06640625, -0.1665278971195221 ]
2.566667
77
0
77
0
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[ 27.158203125, 40.341796875, 19.775390625, 99.66796875, 42.36328125, -0.1665278971195221 ]
2.6
78
0
78
0
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[ 27.158203125, 40.341796875, 19.16015625, 99.66796875, 41.923828125, -0.1665278971195221 ]
2.633333
79
0
79
0
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[ 27.24609375, 40.341796875, 18.720703125, 99.66796875, 41.484375, -0.1665278971195221 ]
2.666667
80
0
80
0
[ 26.806640625, 41.484375, 14.23828125, 112.412109375, 39.111328125, -0.17331022024154663 ]
[ 27.24609375, 40.341796875, 18.369140625, 99.66796875, 41.1328125, -0.1665278971195221 ]
2.7
81
0
81
0
[ 26.71875, 41.396484375, 14.326171875, 112.412109375, 39.111328125, -0.08665511012077332 ]
[ 27.24609375, 40.341796875, 18.193359375, 99.66796875, 40.693359375, -0.1665278971195221 ]
2.733333
82
0
82
0
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[ 27.24609375, 40.341796875, 18.10546875, 99.66796875, 40.4296875, -0.1665278971195221 ]
2.766667
83
0
83
0
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[ 27.24609375, 40.341796875, 18.017578125, 99.66796875, 40.25390625, -0.1665278971195221 ]
2.8
84
0
84
0
[ 25.48828125, 41.484375, 14.23828125, 112.060546875, 39.111328125, -0.08665511012077332 ]
[ 27.24609375, 40.341796875, 18.017578125, 99.66796875, 40.078125, -0.1665278971195221 ]
2.833333
85
0
85
0
[ 24.697265625, 41.8359375, 14.23828125, 112.060546875, 39.111328125, 0 ]
[ 27.158203125, 40.341796875, 18.017578125, 99.66796875, 39.990234375, -0.1665278971195221 ]
2.866667
86
0
86
0
[ 24.169921875, 42.1875, 14.23828125, 112.060546875, 39.0234375, 0 ]
[ 26.71875, 40.341796875, 18.017578125, 99.66796875, 39.814453125, -0.1665278971195221 ]
2.9
87
0
87
0
[ 23.90625, 42.275390625, 13.88671875, 112.1484375, 39.0234375, 0.08665511012077332 ]
[ 26.3671875, 40.341796875, 18.017578125, 99.66796875, 39.814453125, -0.1665278971195221 ]
2.933333
88
0
88
0
[ 23.73046875, 42.451171875, 12.83203125, 112.5, 39.0234375, 0.6065858006477356 ]
[ 25.83984375, 40.341796875, 18.017578125, 99.66796875, 39.814453125, -0.1665278971195221 ]
2.966667
89
0
89
0
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[ 25.224609375, 40.341796875, 18.017578125, 99.66796875, 39.814453125, -0.1665278971195221 ]
3
90
0
90
0
[ 23.466796875, 42.626953125, 10.458984375, 112.5, 38.759765625, 4.072790145874023 ]
[ 24.697265625, 40.341796875, 17.314453125, 99.66796875, 39.814453125, 0.1665278971195221 ]
3.033333
91
0
91
0
[ 23.466796875, 42.626953125, 9.580078125, 112.5, 37.6171875, 6.325822830200195 ]
[ 24.2578125, 40.341796875, 16.5234375, 99.66796875, 39.814453125, 0.8326394557952881 ]
3.066667
92
0
92
0
[ 23.466796875, 42.71484375, 8.7890625, 112.5, 35.859375, 8.318890571594238 ]
[ 24.08203125, 40.341796875, 15.556640625, 99.66796875, 39.638671875, 1.9983347654342651 ]
3.1
93
0
93
0
[ 23.5546875, 42.802734375, 8.0859375, 112.5, 33.3984375, 10.051993370056152 ]
[ 23.90625, 40.341796875, 14.501953125, 99.66796875, 38.935546875, 3.4970858097076416 ]
3.133333
94
0
94
0
[ 23.642578125, 42.802734375, 7.3828125, 112.5, 30.234375, 11.35181999206543 ]
[ 23.90625, 40.341796875, 13.623046875, 99.66796875, 37.529296875, 5.412156581878662 ]
3.166667
95
0
95
0
[ 23.642578125, 42.5390625, 6.943359375, 112.5, 27.24609375, 11.871750831604004 ]
[ 23.994140625, 40.341796875, 12.919921875, 99.66796875, 36.03515625, 6.91090726852417 ]
3.2
96
0
96
0
[ 23.73046875, 42.36328125, 6.591796875, 112.5, 24.873046875, 11.871750831604004 ]
[ 24.08203125, 40.341796875, 12.216796875, 99.66796875, 33.92578125, 8.326395034790039 ]
3.233333
97
0
97
0
[ 23.73046875, 42.1875, 6.416015625, 112.5, 23.115234375, 11.78509521484375 ]
[ 24.08203125, 40.341796875, 11.6015625, 99.66796875, 31.728515625, 9.408825874328613 ]
3.266667
98
0
98
0
[ 23.642578125, 42.1875, 6.767578125, 112.5, 22.1484375, 11.78509521484375 ]
[ 24.169921875, 40.341796875, 11.162109375, 99.66796875, 29.443359375, 10.158201217651367 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "so101",
    "total_episodes": 80,
    "total_frames": 95162,
    "total_tasks": 1,
    "total_videos": 80,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:80"
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    "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": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.laptop": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
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                "width",
                "channels"
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            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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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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        "index": {
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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