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Datasets:
lansekx
/
realman_task_build_blocks_500_4.18

Tasks:
Robotics
Modalities:
Tabular
Time-series
Formats:
parquet
Languages:
English
Chinese
Size:
100K - 1M
Tags:
RobotCoin
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
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README.md ADDED
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1
+ ---
2
+ license: apache-2.0
3
+ language:
4
+ - en
5
+ - zh
6
+ task_categories:
7
+ - robotics
8
+ tags:
9
+ - RobotCoin
10
+ - LeRobot
11
+ size_categories: <1K
12
+ configs:
13
+ - config_name: default
14
+ data_files: data/*/*.parquet
15
+ ---
16
+
17
+ ## Dataset Authors
18
+ contributed by [[RobotCoin](https://RobotCoin.github.io)]
19
+ annotated by [[RobotCoin](https://RobotCoin.github.io)]
20
+
21
+ ## Dataset Description
22
+ This dataset uses an extended format based on [LeRobot](https://github.com/huggingface/lerobot) and is fully compatible with LeRobot.
23
+
24
+ - **Homepage:**
25
+ - **Paper:**
26
+ - **License:** apache-2.0
27
+
28
+ ## Dataset Tags
29
+
30
+ - RobotCoin
31
+
32
+ - LeRobot
33
+
34
+
35
+ ## Task Descriptions
36
+ ### tasks
37
+ build blocks
38
+
39
+ ### sub_tasks
40
+ Place the arch-shaped block in the center of view with the right gripper
41
+ Grasp the triangle-shaped block with the right gripper
42
+ Grasp the triangle-shaped block with the left gripper
43
+ Grasp the box-shaped block with the left gripper
44
+ Place the box-shaped block onto the arch-shaped block with the right gripper
45
+ Grasp the arch-shaped block with the right gripper
46
+ Grasp the box-shaped block with the right gripper
47
+ Place the triangle-shaped block onto the box-shaped block with the left gripper
48
+ Place the triangle-shaped block onto the box-shaped block with the right gripper
49
+ Place the box-shaped block onto the arch-shaped block with the left gripper
50
+ Place the arch-shaped block in the center of view with the left gripper
51
+ Grasp the arch-shaped block with the left gripper
52
+
53
+ ## Dataset Structure
54
+
55
+ [meta/info.json](meta/info.json):
56
+ ```json
57
+ {
58
+ "codebase_version": "v2.1",
59
+ "robot_type": "realman",
60
+ "total_episodes": 498,
61
+ "total_frames": 595002,
62
+ "total_tasks": 1,
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+ "total_videos": 1494,
64
+ "total_chunks": 1,
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+ "chunks_size": 1000,
66
+ "fps": 25,
67
+ "splits": {
68
+ "train": "0:498"
69
+ },
70
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
71
+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
72
+ "features": {
73
+ "observation.images.cam_high": {
74
+ "dtype": "video",
75
+ "shape": [
76
+ 480,
77
+ 640,
78
+ 3
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+ ],
80
+ "names": [
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+ "height",
82
+ "width",
83
+ "channels"
84
+ ],
85
+ "info": {
86
+ "video.fps": 25.0,
87
+ "video.height": 480,
88
+ "video.width": 640,
89
+ "video.channels": 3,
90
+ "video.codec": "h264",
91
+ "video.pix_fmt": "yuv420p",
92
+ "video.is_depth_map": false,
93
+ "has_audio": false
94
+ }
95
+ },
96
+ "observation.images.cam_left_wrist": {
97
+ "dtype": "video",
98
+ "shape": [
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+ 480,
100
+ 640,
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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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+ "channels"
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+ ],
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+ "info": {
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+ "video.fps": 25.0,
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+ "video.height": 480,
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+ "video.width": 640,
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+ "video.channels": 3,
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+ "video.codec": "h264",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "has_audio": false
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+ }
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+ },
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+ "observation.images.cam_right_wrist": {
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+ "dtype": "video",
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+ "shape": [
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+ 480,
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+ 640,
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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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+ "channels"
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+ ],
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+ "info": {
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+ "video.fps": 25.0,
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+ "video.height": 480,
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+ "video.width": 640,
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+ "video.channels": 3,
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+ "video.codec": "h264",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "has_audio": false
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+ }
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+ },
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+ "states": {
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+ "dtype": "float32",
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+ "shape": [
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+ 30
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+ ],
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+ "name": [
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+ "right_arm_joint_1",
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+ "right_arm_joint_2",
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+ "right_arm_joint_3",
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+ "right_arm_joint_4",
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+ "right_arm_joint_5",
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+ "right_arm_joint_6",
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+ "right_arm_joint_7",
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+ "right_gripper_joint",
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+ "right_end_effector_positions_x",
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+ "right_end_effector_positions_y",
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+ "right_end_effector_positions_z",
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+ "right_end_effector_quat_x",
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+ "right_end_effector_quat_y",
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+ "right_end_effector_quat_z",
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+ "right_end_effector_quat_w",
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+ "left_arm_joint_1",
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+ "left_arm_joint_2",
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+ "left_arm_joint_3",
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+ "left_arm_joint_4",
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+ "left_arm_joint_5",
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+ "left_arm_joint_6",
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+ "left_arm_joint_7",
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+ "left_gripper_joint",
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+ "left_end_effector_positions_x",
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+ "left_end_effector_positions_y",
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+ "left_end_effector_positions_z",
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+ "left_end_effector_quat_x",
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+ "left_end_effector_quat_y",
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+ "left_end_effector_quat_z",
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+ "left_end_effector_quat_w"
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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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+ 30
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+ ],
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+ "name": [
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+ "right_arm_joint_1",
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+ "right_arm_joint_2",
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+ "right_arm_joint_3",
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+ "right_arm_joint_4",
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+ "right_arm_joint_5",
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+ "right_arm_joint_6",
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+ "right_arm_joint_7",
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+ "right_gripper_joint",
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+ "right_end_effector_positions_x",
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+ "right_end_effector_positions_y",
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+ "right_end_effector_positions_z",
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+ "right_end_effector_quat_x",
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+ "right_end_effector_quat_y",
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+ "right_end_effector_quat_z",
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+ "right_end_effector_quat_w",
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+ "left_arm_joint_1",
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+ "left_arm_joint_2",
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+ "left_arm_joint_3",
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+ "left_arm_joint_4",
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+ "left_arm_joint_5",
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+ "left_arm_joint_6",
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+ "left_arm_joint_7",
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+ "left_gripper_joint",
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+ "left_end_effector_positions_x",
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+ "left_end_effector_positions_y",
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+ "left_end_effector_positions_z",
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+ "left_end_effector_quat_x",
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+ "left_end_effector_quat_y",
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+ "left_end_effector_quat_z",
215
+ "left_end_effector_quat_w"
216
+ ]
217
+ },
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+ "next.done": {
219
+ "dtype": "bool",
220
+ "shape": [
221
+ 1
222
+ ],
223
+ "names": null
224
+ },
225
+ "timestamp": {
226
+ "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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+ "shape": [
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+ "task_index": {
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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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+ ```
263
+
264
+ ## Citation
265
+ ```bibtex
266
+
267
+ ```
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