iCub Dataset (LeRobot)
Collection
iCub Dataset in LeRobot format for Pi0 finetuning • 6 items • Updated
Datasets:
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image imagewidth (px) 320 320 | state list | actions list | timestamp float32 0 28 | frame_index int64 0 280 | episode_index int64 0 89 | index int64 0 21.9k | task_index int64 0 4 |
|---|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "icub",
"total_episodes": 90,
"total_frames": 19830,
"total_tasks": 5,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
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},
"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": {
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"names": [
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},
"state": {
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],
"names": [
"r_shoulder_pitch",
"r_shoulder_roll",
"r_shoulder_yaw",
"r_elbow",
"r_wrist_prosup",
"r_wrist_pitch",
"r_wrist_yaw",
"gripper"
]
},
"actions": {
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"shape": [
7
],
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},
"timestamp": {
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},
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}
}
}
Citation
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