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Datasets:
mattpidden
/
consistent-block-pick-and-place-into-basket-large

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
30
frame_index
int64
0
751
episode_index
int64
0
99
index
int64
0
52.8k
task_index
int64
0
3
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2.08
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0
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[ -4.835165023803711, -99.42857360839844, 96.92308044433594, 70.5934066772461, -8.747252464294434, 1.7082785367965698 ]
2.2
55
0
55
0
[ -4.131868362426758, -99.07691955566406, 96.52747344970703, 69.4065933227539, -9.09890079498291, 1.3578274250030518 ]
[ -4.835165023803711, -99.42857360839844, 96.92308044433594, 70.5934066772461, -8.747252464294434, 1.7082785367965698 ]
2.24
56
0
56
0
[ -4.131868362426758, -99.07691955566406, 96.52747344970703, 69.4065933227539, -9.09890079498291, 1.3578274250030518 ]
[ -4.835165023803711, -99.42857360839844, 96.92308044433594, 70.5934066772461, -8.747252464294434, 1.7082785367965698 ]
2.28
57
0
57
0
[ -4.131868362426758, -99.07691955566406, 96.52747344970703, 69.4065933227539, -9.09890079498291, 1.3578274250030518 ]
[ -4.835165023803711, -99.42857360839844, 96.92308044433594, 70.5934066772461, -8.747252464294434, 1.7082785367965698 ]
2.32
58
0
58
0
[ -4.131868362426758, -99.07691955566406, 96.52747344970703, 69.4065933227539, -9.09890079498291, 1.3578274250030518 ]
[ -4.835165023803711, -99.42857360839844, 96.92308044433594, 70.5934066772461, -8.747252464294434, 1.7082785367965698 ]
2.36
59
0
59
0
[ -4.131868362426758, -99.07691955566406, 96.52747344970703, 69.4065933227539, -9.09890079498291, 1.3578274250030518 ]
[ -4.835165023803711, -99.42857360839844, 96.92308044433594, 70.5934066772461, -8.747252464294434, 1.7082785367965698 ]
2.4
60
0
60
0
[ -4.131868362426758, -99.07691955566406, 96.52747344970703, 69.4065933227539, -9.09890079498291, 1.3578274250030518 ]
[ -4.835165023803711, -99.42857360839844, 96.92308044433594, 70.5934066772461, -8.747252464294434, 1.7082785367965698 ]
2.44
61
0
61
0
[ -4.131868362426758, -99.07691955566406, 96.52747344970703, 69.4065933227539, -9.09890079498291, 1.3578274250030518 ]
[ -4.835165023803711, -99.42857360839844, 96.92308044433594, 70.5934066772461, -8.747252464294434, 1.7082785367965698 ]
2.48
62
0
62
0
[ -4.131868362426758, -99.07691955566406, 96.52747344970703, 69.4065933227539, -9.09890079498291, 1.3578274250030518 ]
[ -4.835165023803711, -99.42857360839844, 96.92308044433594, 70.5934066772461, -8.747252464294434, 1.7082785367965698 ]
2.52
63
0
63
0
[ -4.131868362426758, -99.07691955566406, 96.52747344970703, 69.4065933227539, -9.09890079498291, 1.3578274250030518 ]
[ -4.835165023803711, -99.42857360839844, 96.92308044433594, 70.5934066772461, -8.747252464294434, 1.7082785367965698 ]
2.56
64
0
64
0
[ -4.131868362426758, -99.07691955566406, 96.52747344970703, 69.4065933227539, -9.09890079498291, 1.3578274250030518 ]
[ -4.835165023803711, -99.42857360839844, 96.92308044433594, 70.5934066772461, -8.747252464294434, 1.7082785367965698 ]
2.6
65
0
65
0
[ -4.131868362426758, -99.07691955566406, 96.52747344970703, 69.4065933227539, -9.09890079498291, 1.3578274250030518 ]
[ -4.835165023803711, -99.42857360839844, 96.92308044433594, 70.5934066772461, -8.747252464294434, 1.7082785367965698 ]
2.64
66
0
66
0
[ -4.131868362426758, -99.07691955566406, 96.52747344970703, 69.4065933227539, -9.09890079498291, 1.3578274250030518 ]
[ -4.835165023803711, -99.42857360839844, 96.92308044433594, 70.5934066772461, -8.747252464294434, 1.7082785367965698 ]
2.68
67
0
67
0
[ -4.131868362426758, -99.07691955566406, 96.52747344970703, 69.4065933227539, -9.09890079498291, 1.3578274250030518 ]
[ -4.835165023803711, -99.42857360839844, 96.92308044433594, 70.5934066772461, -8.747252464294434, 1.7082785367965698 ]
2.72
68
0
68
0
[ -4.131868362426758, -99.07691955566406, 96.52747344970703, 69.4065933227539, -9.09890079498291, 1.3578274250030518 ]
[ -4.835165023803711, -99.42857360839844, 96.92308044433594, 70.5934066772461, -8.747252464294434, 1.7082785367965698 ]
2.76
69
0
69
0
[ -4.131868362426758, -99.07691955566406, 96.52747344970703, 69.4065933227539, -9.09890079498291, 1.3578274250030518 ]
[ -4.835165023803711, -99.42857360839844, 96.92308044433594, 70.5934066772461, -8.747252464294434, 1.7082785367965698 ]
2.8
70
0
70
0
[ -4.131868362426758, -99.07691955566406, 96.52747344970703, 69.4065933227539, -9.09890079498291, 1.3578274250030518 ]
[ -4.835165023803711, -99.42857360839844, 96.92308044433594, 70.5934066772461, -8.747252464294434, 1.7082785367965698 ]
2.84
71
0
71
0
[ -4.131868362426758, -99.07691955566406, 96.52747344970703, 69.4065933227539, -9.09890079498291, 1.3578274250030518 ]
[ -4.835165023803711, -99.42857360839844, 96.92308044433594, 70.5934066772461, -8.747252464294434, 1.7082785367965698 ]
2.88
72
0
72
0
[ -4.131868362426758, -99.07691955566406, 96.52747344970703, 69.4065933227539, -9.09890079498291, 1.3578274250030518 ]
[ -4.835165023803711, -99.42857360839844, 96.92308044433594, 70.5934066772461, -8.747252464294434, 1.7082785367965698 ]
2.92
73
0
73
0
[ -4.131868362426758, -99.07691955566406, 96.52747344970703, 69.4065933227539, -9.09890079498291, 1.3578274250030518 ]
[ -4.835165023803711, -99.42857360839844, 96.92308044433594, 70.5934066772461, -8.747252464294434, 1.7082785367965698 ]
2.96
74
0
74
0
[ -4.131868362426758, -99.07691955566406, 96.52747344970703, 69.4065933227539, -9.09890079498291, 1.3578274250030518 ]
[ -4.835165023803711, -99.42857360839844, 96.92308044433594, 70.5934066772461, -8.747252464294434, 1.7082785367965698 ]
3
75
0
75
0
[ -4.131868362426758, -99.07691955566406, 96.52747344970703, 69.4065933227539, -9.09890079498291, 1.3578274250030518 ]
[ -4.835165023803711, -99.42857360839844, 96.92308044433594, 70.5934066772461, -8.747252464294434, 1.7082785367965698 ]
3.04
76
0
76
0
[ -4.131868362426758, -99.07691955566406, 96.52747344970703, 69.4065933227539, -9.09890079498291, 1.3578274250030518 ]
[ -4.835165023803711, -99.42857360839844, 96.92308044433594, 70.5934066772461, -8.747252464294434, 1.7082785367965698 ]
3.08
77
0
77
0
[ -4.131868362426758, -99.07691955566406, 96.52747344970703, 69.4065933227539, -9.09890079498291, 1.3578274250030518 ]
[ -4.835165023803711, -99.42857360839844, 96.92308044433594, 70.5934066772461, -8.747252464294434, 1.7082785367965698 ]
3.12
78
0
78
0
[ -4.131868362426758, -99.07691955566406, 96.52747344970703, 69.4065933227539, -9.09890079498291, 1.3578274250030518 ]
[ -4.835165023803711, -99.42857360839844, 96.92308044433594, 70.5934066772461, -8.747252464294434, 1.7082785367965698 ]
3.16
79
0
79
0
[ -4.131868362426758, -99.07691955566406, 96.52747344970703, 69.4065933227539, -9.09890079498291, 1.3578274250030518 ]
[ -4.835165023803711, -99.42857360839844, 96.92308044433594, 70.5934066772461, -8.747252464294434, 1.7082785367965698 ]
3.2
80
0
80
0
[ -4.131868362426758, -99.07691955566406, 96.52747344970703, 69.4065933227539, -9.09890079498291, 1.3578274250030518 ]
[ -4.835165023803711, -99.42857360839844, 96.92308044433594, 70.5934066772461, -8.747252464294434, 1.7082785367965698 ]
3.24
81
0
81
0
[ -4.131868362426758, -99.07691955566406, 96.52747344970703, 69.4065933227539, -9.09890079498291, 1.3578274250030518 ]
[ -4.835165023803711, -99.42857360839844, 96.92308044433594, 70.5934066772461, -8.747252464294434, 1.7082785367965698 ]
3.28
82
0
82
0
[ -4.131868362426758, -99.07691955566406, 96.52747344970703, 69.4065933227539, -9.09890079498291, 1.3578274250030518 ]
[ -4.835165023803711, -99.42857360839844, 96.92308044433594, 70.5934066772461, -8.747252464294434, 1.7082785367965698 ]
3.32
83
0
83
0
[ -4.131868362426758, -99.07691955566406, 96.52747344970703, 69.4065933227539, -9.09890079498291, 1.3578274250030518 ]
[ -4.835165023803711, -99.42857360839844, 96.92308044433594, 70.5934066772461, -8.747252464294434, 1.7082785367965698 ]
3.36
84
0
84
0
[ -4.131868362426758, -99.07691955566406, 96.52747344970703, 69.4065933227539, -9.09890079498291, 1.3578274250030518 ]
[ -4.835165023803711, -99.42857360839844, 96.92308044433594, 70.5934066772461, -8.747252464294434, 1.7082785367965698 ]
3.4
85
0
85
0
[ -4.131868362426758, -99.07691955566406, 96.52747344970703, 69.4065933227539, -9.09890079498291, 1.3578274250030518 ]
[ -4.835165023803711, -99.42857360839844, 96.92308044433594, 70.5934066772461, -8.747252464294434, 1.7082785367965698 ]
3.44
86
0
86
0
[ -4.131868362426758, -99.07691955566406, 96.52747344970703, 69.4065933227539, -9.09890079498291, 1.3578274250030518 ]
[ -4.835165023803711, -99.42857360839844, 96.92308044433594, 70.5934066772461, -8.747252464294434, 1.7082785367965698 ]
3.48
87
0
87
0
[ -4.131868362426758, -99.07691955566406, 96.52747344970703, 69.4065933227539, -9.09890079498291, 1.3578274250030518 ]
[ -4.835165023803711, -99.42857360839844, 96.92308044433594, 70.5934066772461, -8.747252464294434, 1.7082785367965698 ]
3.52
88
0
88
0
[ -4.131868362426758, -99.07691955566406, 96.52747344970703, 69.4065933227539, -9.09890079498291, 1.3578274250030518 ]
[ -4.835165023803711, -99.42857360839844, 96.92308044433594, 70.5934066772461, -8.747252464294434, 1.7082785367965698 ]
3.56
89
0
89
0
[ -4.131868362426758, -99.07691955566406, 96.52747344970703, 69.4065933227539, -9.09890079498291, 1.3578274250030518 ]
[ -4.835165023803711, -99.42857360839844, 96.92308044433594, 70.5934066772461, -8.747252464294434, 1.7082785367965698 ]
3.6
90
0
90
0
[ -4.131868362426758, -99.07691955566406, 96.52747344970703, 69.4065933227539, -9.09890079498291, 1.3578274250030518 ]
[ -4.835165023803711, -99.42857360839844, 96.92308044433594, 70.5934066772461, -8.747252464294434, 1.7082785367965698 ]
3.64
91
0
91
0
[ -4.131868362426758, -99.07691955566406, 96.52747344970703, 69.4065933227539, -9.09890079498291, 1.3578274250030518 ]
[ -4.835165023803711, -99.42857360839844, 96.92308044433594, 70.5934066772461, -8.747252464294434, 1.7082785367965698 ]
3.68
92
0
92
0
[ -4.131868362426758, -99.07691955566406, 96.52747344970703, 69.4065933227539, -9.09890079498291, 1.3578274250030518 ]
[ -4.835165023803711, -99.42857360839844, 96.92308044433594, 70.5934066772461, -8.747252464294434, 1.7082785367965698 ]
3.72
93
0
93
0
[ -4.131868362426758, -99.07691955566406, 96.52747344970703, 69.4065933227539, -9.09890079498291, 1.3578274250030518 ]
[ -4.835165023803711, -99.42857360839844, 96.92308044433594, 70.5934066772461, -8.747252464294434, 1.7082785367965698 ]
3.76
94
0
94
0
[ -4.131868362426758, -99.07691955566406, 96.52747344970703, 69.4065933227539, -9.09890079498291, 1.3578274250030518 ]
[ -4.835165023803711, -99.42857360839844, 96.92308044433594, 70.5934066772461, -8.747252464294434, 1.7082785367965698 ]
3.8
95
0
95
0
[ -4.131868362426758, -99.07691955566406, 96.52747344970703, 69.4065933227539, -9.09890079498291, 1.3578274250030518 ]
[ -4.835165023803711, -99.42857360839844, 96.92308044433594, 70.5934066772461, -8.747252464294434, 1.7082785367965698 ]
3.84
96
0
96
0
[ -4.131868362426758, -99.07691955566406, 96.52747344970703, 69.4065933227539, -9.09890079498291, 1.3578274250030518 ]
[ -4.835165023803711, -99.42857360839844, 96.92308044433594, 70.5934066772461, -8.747252464294434, 1.7082785367965698 ]
3.88
97
0
97
0
[ -4.131868362426758, -99.07691955566406, 96.52747344970703, 69.4065933227539, -9.09890079498291, 1.3578274250030518 ]
[ -4.835165023803711, -99.42857360839844, 96.92308044433594, 70.5934066772461, -8.747252464294434, 1.7082785367965698 ]
3.92
98
0
98
0
[ -4.131868362426758, -99.07691955566406, 96.52747344970703, 69.4065933227539, -9.09890079498291, 1.3578274250030518 ]
[ -4.835165023803711, -99.42857360839844, 96.92308044433594, 70.5934066772461, -8.747252464294434, 1.7082785367965698 ]
3.96
99
0
99
0
End of preview. Expand in Data Studio

Dataset 2 (100 diverse episodes) This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "so_follower",
    "total_episodes": 100,
    "total_frames": 107306,
    "total_tasks": 4,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 25,
    "splits": {
        "train": "0:200"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 25,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.world": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 25,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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