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Tasks:
Robotics
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Tags:
LeRobot
ur
robotics
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+ ---
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+ license: apache-2.0
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+ task_categories:
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+ - robotics
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+ tags:
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+ - LeRobot
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+ - ur
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+ - robotics
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+ configs:
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+ - config_name: default
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+ data_files: data/*/*.parquet
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+ ---
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+
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+ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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+
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+ ## Dataset Description
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+
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+
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+
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+ - **Homepage:** [More Information Needed]
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+ - **Paper:** [More Information Needed]
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+ - **License:** apache-2.0
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+
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+ ## Dataset Structure
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+
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+ [meta/info.json](meta/info.json):
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+ ```json
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+ {
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+ "codebase_version": "v2.1",
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+ "robot_type": "ur",
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+ "total_episodes": 120,
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+ "total_frames": 29665,
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+ "total_tasks": 5,
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+ "total_videos": 0,
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+ "total_chunks": 1,
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+ "chunks_size": 1000,
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+ "fps": 30,
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+ "splits": {
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+ "train": "0:120"
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+ },
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+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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+ "features": {
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+ "base_rgb": {
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+ "dtype": "image",
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+ "shape": [
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+ 224,
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+ 224,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "channel"
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+ ]
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+ },
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+ "wrist_rgb": {
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+ "dtype": "image",
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+ "shape": [
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+ 224,
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+ 224,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "channel"
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+ ]
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+ },
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+ "ultrasound_rgb": {
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+ "dtype": "image",
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+ "shape": [
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+ 480,
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+ 640,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "channel"
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+ ]
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+ },
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+ "state": {
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+ "dtype": "float32",
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+ "shape": [
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+ 12
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+ ],
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+ "names": [
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+ "x",
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+ "y",
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+ "z",
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+ "roll",
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+ "pitch",
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+ "yaw",
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+ "fx",
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+ "fy",
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+ "fz",
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+ "tx",
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+ "ty",
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+ "tz"
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+ ]
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+ },
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+ "actions": {
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+ "dtype": "float32",
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+ "shape": [
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+ 6
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+ ],
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+ "names": [
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+ "dx",
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+ "dy",
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+ "dz",
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+ "droll",
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+ "dpitch",
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+ "dyaw"
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+ ]
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+ },
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+ "prompt": {
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+ "dtype": "string",
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+ "shape": [
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+ 1
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+ ],
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+ "names": [
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+ "prompt"
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+ ]
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+ },
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+ "us_gt": {
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+ "dtype": "int32",
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+ "shape": [
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+ 1
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+ ],
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+ "names": [
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+ "us_gt"
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+ ]
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+ },
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+ "stage": {
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+ "dtype": "int32",
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+ "shape": [
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+ 1
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+ ],
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+ "names": [
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+ "stage"
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+ ]
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+ },
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+ "timestamp": {
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+ "dtype": "float32",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "frame_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "episode_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "task_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ }
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+ }
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+ }
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+ ```
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+
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+
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+ ## Citation
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+
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+ **BibTeX:**
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+
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+ ```bibtex
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+ [More Information Needed]
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+ ```