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Datasets:
swarajgosavi
/
act_kikobot_pusht_real

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
kikobot
tutorial
Libraries:
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Dask
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action
sequence
observation.state
sequence
timestamp
float32
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23.3
frame_index
int64
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698
episode_index
int64
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49
index
int64
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21.4k
task_index
int64
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[ 32.51953125, 35.859375, 105.908203125, -63.017578125, 1.494140625, 5.800971031188965 ]
2.433333
73
0
73
0
[ 32.87109375, 33.310546875, 97.294921875, -64.6875, 2.4609375, 6.501095771789551 ]
[ 32.431640625, 34.365234375, 103.798828125, -63.544921875, 1.494140625, 5.800971031188965 ]
2.466667
74
0
74
0
[ 32.6953125, 31.904296875, 94.833984375, -64.6875, 2.4609375, 6.525444030761719 ]
[ 32.34375, 32.6953125, 99.755859375, -63.544921875, 1.494140625, 5.800971031188965 ]
2.5
75
0
75
0
[ 32.431640625, 30.9375, 92.98828125, -64.6875, 2.4609375, 6.525444030761719 ]
[ 32.255859375, 31.46484375, 98.0859375, -63.6328125, 1.494140625, 5.800971031188965 ]
2.533333
76
0
76
0
[ 32.34375, 30.234375, 91.93359375, -64.6875, 2.4609375, 6.525444030761719 ]
[ 32.255859375, 29.970703125, 95.09765625, -63.720703125, 1.494140625, 5.800971031188965 ]
2.566667
77
0
77
0
[ 32.255859375, 30.05859375, 91.7578125, -64.6875, 2.4609375, 6.525444030761719 ]
[ 32.255859375, 29.53125, 93.69140625, -63.6328125, 1.494140625, 5.800971031188965 ]
2.6
78
0
78
0
[ 32.255859375, 30.05859375, 91.7578125, -64.6875, 2.4609375, 6.525444030761719 ]
[ 32.255859375, 29.267578125, 92.900390625, -63.45703125, 1.494140625, 5.800971031188965 ]
2.633333
79
0
79
0
[ 31.81640625, 30.05859375, 91.7578125, -64.6875, 2.4609375, 6.525444030761719 ]
[ 32.255859375, 29.267578125, 92.724609375, -63.45703125, 1.494140625, 5.800971031188965 ]
2.666667
80
0
80
0
[ 30.146484375, 29.970703125, 91.669921875, -64.6875, 2.4609375, 6.525444030761719 ]
[ 31.904296875, 29.267578125, 92.724609375, -63.45703125, 1.494140625, 5.800971031188965 ]
2.7
81
0
81
0
[ 29.53125, 29.970703125, 91.669921875, -64.6875, 2.4609375, 6.525444030761719 ]
[ 31.11328125, 28.4765625, 92.548828125, -63.720703125, 1.494140625, 5.800971031188965 ]
2.733333
82
0
82
0
[ 28.828125, 29.970703125, 91.669921875, -64.6875, 2.4609375, 6.525444030761719 ]
[ 30.234375, 28.388671875, 92.021484375, -63.720703125, 1.494140625, 5.800971031188965 ]
2.766667
83
0
83
0
[ 28.30078125, 29.970703125, 91.669921875, -64.6875, 2.4609375, 6.525444030761719 ]
[ 29.1796875, 28.388671875, 91.93359375, -63.720703125, 1.494140625, 5.800971031188965 ]
2.8
84
0
84
0
[ 27.24609375, 29.970703125, 91.669921875, -64.6875, 2.4609375, 6.525444030761719 ]
[ 28.828125, 28.388671875, 91.93359375, -63.720703125, 1.494140625, 5.800971031188965 ]
2.833333
85
0
85
0
[ 26.71875, 29.970703125, 91.669921875, -64.6875, 2.4609375, 6.525444030761719 ]
[ 28.388671875, 28.388671875, 91.93359375, -63.720703125, 1.494140625, 5.800971031188965 ]
2.866667
86
0
86
0
[ 26.71875, 29.970703125, 91.669921875, -64.6875, 2.4609375, 6.525444030761719 ]
[ 27.685546875, 28.388671875, 91.93359375, -63.720703125, 1.494140625, 5.800971031188965 ]
2.9
87
0
87
0
[ 26.630859375, 29.970703125, 91.669921875, -64.6875, 2.4609375, 6.525444030761719 ]
[ 26.89453125, 28.388671875, 91.93359375, -63.720703125, 1.494140625, 5.800971031188965 ]
2.933333
88
0
88
0
[ 26.630859375, 29.970703125, 91.669921875, -64.6875, 2.4609375, 6.525444030761719 ]
[ 26.630859375, 28.388671875, 91.93359375, -63.720703125, 1.494140625, 5.800971031188965 ]
2.966667
89
0
89
0
[ 26.54296875, 29.970703125, 91.669921875, -64.6875, 2.4609375, 6.525444030761719 ]
[ 26.54296875, 28.388671875, 91.93359375, -63.720703125, 1.58203125, 5.800971031188965 ]
3
90
0
90
0
[ 26.54296875, 29.970703125, 91.669921875, -64.6875, 2.4609375, 6.525444030761719 ]
[ 26.54296875, 28.388671875, 91.93359375, -63.720703125, 1.58203125, 5.800971031188965 ]
3.033333
91
0
91
0
[ 26.279296875, 29.970703125, 91.7578125, -64.6875, 2.4609375, 6.525444030761719 ]
[ 26.54296875, 28.388671875, 91.93359375, -63.720703125, 1.58203125, 5.800971031188965 ]
3.066667
92
0
92
0
[ 24.78515625, 29.970703125, 91.7578125, -64.6875, 2.4609375, 6.525444030761719 ]
[ 26.54296875, 28.388671875, 91.93359375, -63.720703125, 1.58203125, 5.800971031188965 ]
3.1
93
0
93
0
[ 24.345703125, 29.970703125, 91.7578125, -64.6875, 2.4609375, 6.525444030761719 ]
[ 26.103515625, 28.388671875, 91.93359375, -63.720703125, 1.58203125, 5.800971031188965 ]
3.133333
94
0
94
0
[ 24.2578125, 29.970703125, 91.7578125, -64.6875, 2.4609375, 6.525444030761719 ]
[ 25.400390625, 28.388671875, 91.93359375, -63.720703125, 1.58203125, 5.800971031188965 ]
3.166667
95
0
95
0
[ 24.169921875, 29.970703125, 91.93359375, -64.6875, 2.4609375, 6.525444030761719 ]
[ 24.873046875, 28.388671875, 91.93359375, -63.720703125, 1.58203125, 5.800971031188965 ]
3.2
96
0
96
0
[ 24.169921875, 30.05859375, 92.197265625, -64.6875, 2.4609375, 6.525444030761719 ]
[ 24.873046875, 28.388671875, 91.93359375, -63.720703125, 1.58203125, 5.800971031188965 ]
3.233333
97
0
97
0
[ 24.169921875, 30.05859375, 92.197265625, -64.6875, 2.4609375, 6.525444030761719 ]
[ 24.873046875, 28.388671875, 91.93359375, -63.720703125, 1.58203125, 5.800971031188965 ]
3.266667
98
0
98
0
[ 24.169921875, 30.05859375, 92.197265625, -64.6875, 2.4609375, 6.525444030761719 ]
[ 24.873046875, 28.388671875, 91.93359375, -63.720703125, 1.58203125, 5.800971031188965 ]
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": "v2.0",
    "robot_type": "so100",
    "total_episodes": 50,
    "total_frames": 21417,
    "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": {
            "dtype": "float32",
            "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.laptop": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
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                "width",
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            "info": {
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                "video.height": 480,
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                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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        },
        "observation.images.phone": {
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            "shape": [
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            "names": [
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                "channels"
            ],
            "info": {
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                "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": {
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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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License:
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