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Datasets:
rgarreta
/
pick_lego_v1

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
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1
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action
sequence
observation.state
sequence
timestamp
float32
0
10.3
frame_index
int64
0
308
episode_index
int64
0
49
index
int64
0
9.75k
task_index
int64
0
0
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[ 0.439453125, 132.36328125, 165.76171875, 32.34375, -97.03125, 35.33203125 ]
[ 0.087890625, 131.748046875, 172.265625, 29.091796875, -100.72265625, 35.418296813964844 ]
2.5
75
0
75
0
[ 0.703125, 132.36328125, 164.794921875, 32.34375, -96.240234375, 35.33203125 ]
[ 0.087890625, 131.748046875, 170.771484375, 30.41015625, -99.755859375, 35.418296813964844 ]
2.533333
76
0
76
0
[ 1.142578125, 132.36328125, 164.267578125, 32.34375, -95.9765625, 35.33203125 ]
[ 0.3515625, 131.748046875, 169.1015625, 31.201171875, -98.7890625, 35.418296813964844 ]
2.566667
77
0
77
0
[ 1.40625, 132.36328125, 163.916015625, 32.34375, -95.9765625, 35.33203125 ]
[ 0.615234375, 131.748046875, 167.6953125, 31.552734375, -97.822265625, 35.418296813964844 ]
2.6
78
0
78
0
[ 1.494140625, 132.36328125, 163.740234375, 32.34375, -95.9765625, 35.33203125 ]
[ 0.703125, 131.748046875, 166.904296875, 31.81640625, -97.294921875, 35.418296813964844 ]
2.633333
79
0
79
0
[ 1.669921875, 132.275390625, 163.212890625, 32.34375, -95.888671875, 35.33203125 ]
[ 0.703125, 131.748046875, 166.376953125, 31.9921875, -96.943359375, 35.418296813964844 ]
2.666667
80
0
80
0
[ 1.7578125, 132.1875, 162.685546875, 32.34375, -95.537109375, 35.33203125 ]
[ 0.703125, 131.748046875, 166.025390625, 32.080078125, -96.767578125, 35.418296813964844 ]
2.7
81
0
81
0
[ 1.845703125, 131.923828125, 161.89453125, 32.34375, -95.2734375, 35.33203125 ]
[ 1.0546875, 131.748046875, 165.498046875, 32.16796875, -96.50390625, 35.418296813964844 ]
2.733333
82
0
82
0
[ 1.93359375, 131.220703125, 160.927734375, 32.34375, -94.5703125, 35.33203125 ]
[ 1.40625, 131.748046875, 165.05859375, 32.16796875, -96.240234375, 35.418296813964844 ]
2.766667
83
0
83
0
[ 1.93359375, 129.90234375, 159.609375, 32.34375, -93.8671875, 35.33203125 ]
[ 1.7578125, 131.748046875, 164.35546875, 32.16796875, -95.888671875, 35.418296813964844 ]
2.8
84
0
84
0
[ 1.93359375, 127.79296875, 157.8515625, 32.34375, -92.98828125, 35.33203125 ]
[ 1.93359375, 131.396484375, 163.65234375, 32.16796875, -95.44921875, 35.418296813964844 ]
2.833333
85
0
85
0
[ 1.93359375, 125.15625, 155.91796875, 32.34375, -92.109375, 35.33203125 ]
[ 2.109375, 131.396484375, 163.212890625, 32.16796875, -95.185546875, 35.418296813964844 ]
2.866667
86
0
86
0
[ 1.93359375, 122.080078125, 153.80859375, 32.34375, -91.142578125, 35.33203125 ]
[ 2.109375, 130.25390625, 162.158203125, 32.16796875, -94.39453125, 35.418296813964844 ]
2.9
87
0
87
0
[ 1.93359375, 118.65234375, 151.611328125, 32.34375, -89.82421875, 35.244140625 ]
[ 1.845703125, 127.96875, 160.13671875, 32.16796875, -93.427734375, 35.418296813964844 ]
2.933333
88
0
88
0
[ 1.845703125, 115.13671875, 149.326171875, 32.255859375, -88.2421875, 35.15625 ]
[ 1.93359375, 125.33203125, 157.939453125, 32.16796875, -92.548828125, 35.418296813964844 ]
2.966667
89
0
89
0
[ 1.669921875, 111.884765625, 147.3046875, 32.255859375, -86.484375, 35.15625 ]
[ 2.021484375, 122.431640625, 155.91796875, 32.16796875, -91.40625, 35.418296813964844 ]
3
90
0
90
0
[ 1.494140625, 109.248046875, 145.37109375, 32.255859375, -85.166015625, 35.15625 ]
[ 2.021484375, 119.267578125, 153.80859375, 32.16796875, -90.17578125, 35.418296813964844 ]
3.033333
91
0
91
0
[ 1.40625, 107.40234375, 144.140625, 32.255859375, -84.7265625, 35.15625 ]
[ 1.93359375, 116.015625, 151.69921875, 32.16796875, -88.59375, 35.418296813964844 ]
3.066667
92
0
92
0
[ 1.318359375, 106.34765625, 143.525390625, 32.080078125, -84.990234375, 35.15625 ]
[ 1.93359375, 112.939453125, 149.677734375, 32.16796875, -87.275390625, 35.418296813964844 ]
3.1
93
0
93
0
[ 1.40625, 105.908203125, 143.0859375, 31.46484375, -85.60546875, 34.892578125 ]
[ 1.7578125, 110.302734375, 147.919921875, 32.16796875, -86.396484375, 35.418296813964844 ]
3.133333
94
0
94
0
[ 1.40625, 105.205078125, 142.470703125, 31.201171875, -85.693359375, 34.62890625 ]
[ 1.669921875, 108.369140625, 146.865234375, 32.16796875, -86.1328125, 35.418296813964844 ]
3.166667
95
0
95
0
[ 1.494140625, 104.765625, 141.50390625, 31.201171875, -85.693359375, 34.541015625 ]
[ 1.669921875, 107.138671875, 146.162109375, 31.9921875, -86.1328125, 35.183738708496094 ]
3.2
96
0
96
0
[ 1.7578125, 104.23828125, 140.712890625, 31.201171875, -85.693359375, 34.453125 ]
[ 1.58203125, 106.083984375, 145.283203125, 31.904296875, -86.1328125, 35.027366638183594 ]
3.233333
97
0
97
0
[ 1.93359375, 103.359375, 139.482421875, 31.201171875, -85.60546875, 34.453125 ]
[ 1.58203125, 105.29296875, 144.31640625, 31.904296875, -86.1328125, 34.870994567871094 ]
3.266667
98
0
98
0
[ 2.021484375, 102.48046875, 138.427734375, 31.201171875, -85.60546875, 34.365234375 ]
[ 1.669921875, 104.501953125, 143.349609375, 31.904296875, -86.1328125, 34.792808532714844 ]
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": "so100_with_koch",
    "total_episodes": 50,
    "total_frames": 9749,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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": {
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            "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": [
                6
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
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            "names": [
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        "observation.images.wrist": {
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            "names": [
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                "channels"
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            "info": {
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                "video.codec": "av1",
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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