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Datasets:
prerit2k
/
Bench01-20-20sec

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
first collection
Libraries:
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pandas
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xet
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action
sequence
observation.state
sequence
timestamp
float32
0
19.9
frame_index
int64
0
596
episode_index
int64
0
0
index
int64
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task_index
int64
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1.533333
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1.566667
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1.6
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1.633333
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1.666667
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1.7
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1.733333
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1.766667
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1.8
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1.833333
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1.866667
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1.9
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1.933333
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1.966667
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2
60
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2.033333
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2.066667
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2.1
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2.133333
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2.166667
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2.2
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2.233333
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2.266667
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2.3
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2.333333
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2.366667
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2.4
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2.433333
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2.466667
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2.5
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2.533333
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2.566667
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2.6
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2.633333
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2.666667
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2.7
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2.733333
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2.8
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2.833333
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2.866667
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2.9
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2.933333
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2.966667
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3
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3.033333
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91
0
[ -0.0020981156267225742, 1.3536659479141235, 0.6696802973747253, 0.31567102670669556, -0.11196307092905045, 0.04329747334122658, -0.000015020370483398438 ]
[ -0.002479590941220522, 1.3536659479141235, 0.6696802973747253, 0.31681543588638306, -0.11196307092905045, 0.034142062067985535, -0.0000017546117305755615 ]
3.066667
92
0
92
0
[ -0.0020981156267225742, 1.3536659479141235, 0.6696802973747253, 0.31528952717781067, -0.11196307092905045, 0.05207141116261482, -0.0000050067901611328125 ]
[ -0.002479590941220522, 1.3536659479141235, 0.6696802973747253, 0.31681543588638306, -0.11234454810619354, 0.03528648987412453, -0.0000017546117305755615 ]
3.1
93
0
93
0
[ -0.0020981156267225742, 1.3536659479141235, 0.6696802973747253, 0.31452658772468567, -0.11158160120248795, 0.06198977679014206, 0.0000050067901611328125 ]
[ -0.002479590941220522, 1.3536659479141235, 0.6696802973747253, 0.31643396615982056, -0.11234454810619354, 0.040627144277095795, -0.0000017546117305755615 ]
3.133333
94
0
94
0
[ -0.0020981156267225742, 1.3536659479141235, 0.6696802973747253, 0.31414511799812317, -0.11158160120248795, 0.0715266615152359, -0.000008344650268554688 ]
[ -0.002479590941220522, 1.3536659479141235, 0.6696802973747253, 0.31605249643325806, -0.11234454810619354, 0.048256658017635345, -0.0000017546117305755615 ]
3.166667
95
0
95
0
[ -0.0020981156267225742, 1.3536659479141235, 0.6696802973747253, 0.3126192092895508, -0.11158160120248795, 0.07534141838550568, -0.000021696090698242188 ]
[ -0.002479590941220522, 1.3536659479141235, 0.6696802973747253, 0.31605249643325806, -0.11196307092905045, 0.05855649709701538, -0.0000017546117305755615 ]
3.2
96
0
96
0
[ -0.0020981156267225742, 1.3551918268203735, 0.6696802973747253, 0.3103303611278534, -0.11158160120248795, 0.07953765243291855, -0.000015020370483398438 ]
[ -0.002479590941220522, 1.3536659479141235, 0.6696802973747253, 0.31528952717781067, -0.11196307092905045, 0.06771191209554672, -0.0000017546117305755615 ]
3.233333
97
0
97
0
[ -0.0020981156267225742, 1.356717824935913, 0.6696802973747253, 0.3068970739841461, -0.11196307092905045, 0.08144503086805344, -0.000015020370483398438 ]
[ -0.002479590941220522, 1.3536659479141235, 0.6696802973747253, 0.3126192092895508, -0.11196307092905045, 0.07419699430465698, -0.0000017546117305755615 ]
3.266667
98
0
98
0
[ -0.0020981156267225742, 1.362058401107788, 0.6696802973747253, 0.3057526648044586, -0.11196307092905045, 0.08258945494890213, -0.000018358230590820312 ]
[ -0.002479590941220522, 1.354047417640686, 0.6696802973747253, 0.3099488914012909, -0.11196307092905045, 0.07839322835206985, -0.0000017546117305755615 ]
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",
    "trossen_subversion": "v1.0",
    "robot_type": "trossen_ai_solo",
    "total_episodes": 1,
    "total_frames": 597,
    "total_tasks": 1,
    "total_videos": 2,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "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": [
                7
            ],
            "names": [
                "main_joint_0",
                "main_joint_1",
                "main_joint_2",
                "main_joint_3",
                "main_joint_4",
                "main_joint_5",
                "main_joint_6"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "main_joint_0",
                "main_joint_1",
                "main_joint_2",
                "main_joint_3",
                "main_joint_4",
                "main_joint_5",
                "main_joint_6"
            ]
        },
        "observation.images.cam_main": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.cam_wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
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                1
            ],
            "names": null
        },
        "index": {
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        },
        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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