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Tasks:
Robotics
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Tags:
LeRobot
Libraries:
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License:
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1
+ ---
2
+ license: apache-2.0
3
+ task_categories:
4
+ - robotics
5
+ tags:
6
+ - LeRobot
7
+ configs:
8
+ - config_name: default
9
+ data_files: data/*/*.parquet
10
+ ---
11
+
12
+ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
13
+
14
+ ## Dataset Description
15
+
16
+
17
+
18
+ - **Homepage:** [More Information Needed]
19
+ - **Paper:** [More Information Needed]
20
+ - **License:** apache-2.0
21
+
22
+ ## Dataset Structure
23
+
24
+ [meta/info.json](meta/info.json):
25
+ ```json
26
+ {
27
+ "codebase_version": "v2.1",
28
+ "robot_type": "Unitree_G1_Dex3_Sim",
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+ "total_episodes": 20,
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+ "total_frames": 14823,
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+ "total_tasks": 1,
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+ "total_videos": 60,
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+ "total_chunks": 1,
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+ "chunks_size": 1000,
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+ "fps": 30,
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+ "splits": {
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+ "train": "0:20"
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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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+ "observation.state_0": {
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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": [
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+ "kLeftShoulderPitch"
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+ ]
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+ },
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+ "action_0": {
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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": [
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+ "kLeftShoulderPitch"
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+ ]
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+ },
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+ "shape": [
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+ 1
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+ ],
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+ "names": [
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+ "kLeftShoulderRoll"
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+ ]
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+ },
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+ 1
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+ ],
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+ "names": [
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+ "kLeftShoulderRoll"
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+ ]
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+ },
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+ "shape": [
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+ 1
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+ ],
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+ "names": [
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+ "kLeftShoulderYaw"
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+ ]
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+ },
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+ "action_2": {
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+ "shape": [
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+ 1
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+ ],
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+ "names": [
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+ "kLeftShoulderYaw"
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+ ]
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+ },
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+ "observation.state_3": {
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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": [
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+ "kLeftElbow"
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+ ]
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+ },
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+ "action_3": {
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+ ],
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+ "kLeftElbow"
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+ ]
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+ },
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+ ]
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+ ]
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+ ],
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+ "height",
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+ "width",
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+ "channel"
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+ ],
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+ "info": {
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+ "video.width": 640,
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+ "video.codec": "av1",
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+ "video.is_depth_map": false,
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+ "video.fps": 30,
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+ "has_audio": false
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+ }
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+ },
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "video.fps": 30,
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+ "video.channels": 3,
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+ "has_audio": false
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+ }
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+ },
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+ "shape": [
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+ ],
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+ "channel"
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+ "info": {
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+ "video.width": 640,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
610
+ "video.fps": 30,
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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
621
+ },
622
+ "frame_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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+ },
629
+ "episode_index": {
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+ "dtype": "int64",
631
+ "shape": [
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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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+ ],
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+ "names": null
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+ },
643
+ "task_index": {
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645
+ "shape": [
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+ 1
647
+ ],
648
+ "names": null
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+ }
650
+ }
651
+ }
652
+ ```
653
+
654
+
655
+ ## Citation
656
+
657
+ **BibTeX:**
658
+
659
+ ```bibtex
660
+ [More Information Needed]
661
+ ```