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Datasets:
vectorcrumb
/
trash_pickup_v1

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
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1
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observation.state
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float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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1
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0.7
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0.75
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0.8
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0.85
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0.9
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1
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1.1
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1.15
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1.2
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24
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1.25
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1.3
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1.35
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2.65
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2.7
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2.75
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2.8
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2.85
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2.9
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2.95
59
0
59
0
[ -5.877648830413818, -68.62744903564453, 54.97287368774414, 88.86509704589844, -56.286163330078125, 0.4170141816139221 ]
[ -5.834564208984375, -86.85326385498047, 72.88135528564453, 88.54962158203125, -56.51717758178711, 1.5037593841552734 ]
3
60
0
60
0
[ -5.797680854797363, -61.45181655883789, 50.813743591308594, 88.35118103027344, -56.338768005371094, 0.4170141816139221 ]
[ -5.834564208984375, -81.93384552001953, 68.5994644165039, 88.80406951904297, -56.51717758178711, 1.5037593841552734 ]
3.05
61
0
61
0
[ -5.557776927947998, -54.44305419921875, 46.745025634765625, 87.92291259765625, -56.338768005371094, 0.4170141816139221 ]
[ -5.834564208984375, -76.59033203125, 64.31757354736328, 88.80406951904297, -56.51717758178711, 1.5037593841552734 ]
3.1
62
0
62
0
[ -5.477808952331543, -47.768043518066406, 42.766727447509766, 87.66595458984375, -56.338768005371094, 0.4170141816139221 ]
[ -5.834564208984375, -70.56827545166016, 60.1248893737793, 88.80406951904297, -56.51717758178711, 1.5037593841552734 ]
3.15
63
0
63
0
[ -5.397840976715088, -41.17647171020508, 38.96925735473633, 87.5802993774414, -56.39137268066406, 0.4170141816139221 ]
[ -5.834564208984375, -64.03732299804688, 55.93220520019531, 88.80406951904297, -56.51717758178711, 1.5037593841552734 ]
3.2
64
0
64
0
[ -5.317873001098633, -35.419273376464844, 35.895118713378906, 86.8094253540039, -56.39137268066406, 0.4170141816139221 ]
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3.25
65
0
65
0
[ -5.317873001098633, -30.663330078125, 33.63471984863281, 85.61027526855469, -56.39137268066406, 0.4170141816139221 ]
[ -5.834564208984375, -49.61832046508789, 47.992862701416016, 88.12552642822266, -56.56962966918945, 1.5037593841552734 ]
3.3
66
0
66
0
[ -5.317873001098633, -26.408010482788086, 31.37432098388672, 84.75374603271484, -56.39137268066406, 0.4170141816139221 ]
[ -5.760708808898926, -43.08736038208008, 44.33541488647461, 87.53180694580078, -56.56962966918945, 1.5037593841552734 ]
3.35
67
0
67
0
[ -5.317873001098633, -23.153942108154297, 29.92766761779785, 83.12633514404297, -56.39137268066406, 0.4170141816139221 ]
[ -5.760708808898926, -36.980491638183594, 41.30241012573242, 86.59881591796875, -56.56962966918945, 1.5037593841552734 ]
3.4
68
0
68
0
[ -5.317873001098633, -20.650814056396484, 28.93309211730957, 81.58457946777344, -56.39137268066406, 0.6672226786613464 ]
[ -5.760708808898926, -31.467344284057617, 38.715431213378906, 85.66581726074219, -56.56962966918945, 1.5037593841552734 ]
3.45
69
0
69
0
[ -5.317873001098633, -18.898622512817383, 28.028932571411133, 80.38543701171875, -56.39137268066406, 0.5838198661804199 ]
[ -5.760708808898926, -26.717557907104492, 36.663692474365234, 84.3935546875, -56.56962966918945, 1.5037593841552734 ]
3.5
70
0
70
0
[ -5.317873001098633, -17.229869842529297, 27.396020889282227, 79.35760498046875, -56.39137268066406, 0.5838198661804199 ]
[ -5.760708808898926, -23.070398330688477, 35.14719009399414, 83.03646850585938, -56.56962966918945, 1.5037593841552734 ]
3.55
71
0
71
0
[ -5.317873001098633, -15.97830581665039, 27.21518898010254, 78.32976531982422, -56.39137268066406, 0.8340283632278442 ]
[ -5.760708808898926, -20.27141571044922, 33.8983039855957, 81.76420593261719, -56.56962966918945, 1.5037593841552734 ]
3.6
72
0
72
0
[ -5.317873001098633, -15.227367401123047, 27.48643684387207, 76.95931243896484, -56.39137268066406, 0.9174311757087708 ]
[ -5.760708808898926, -17.981340408325195, 32.91703796386719, 80.5767593383789, -56.56962966918945, 1.5037593841552734 ]
3.65
73
0
73
0
[ -5.317873001098633, -14.559866905212402, 27.48643684387207, 76.01712799072266, -56.39137268066406, 1.0008339881896973 ]
[ -5.760708808898926, -16.200170516967773, 32.47100830078125, 79.47412872314453, -56.56962966918945, 1.5037593841552734 ]
3.7
74
0
74
0
[ -5.317873001098633, -14.059240341186523, 27.124773025512695, 75.8458251953125, -56.39137268066406, 1.2510424852371216 ]
[ -5.760708808898926, -14.843087196350098, 32.38180160522461, 78.28668212890625, -56.56962966918945, 1.5037593841552734 ]
3.75
75
0
75
0
[ -5.317873001098633, -13.892365455627441, 26.94394302368164, 75.5888671875, -56.39137268066406, 2.3352794647216797 ]
[ -5.760708808898926, -13.994911193847656, 32.29259490966797, 77.26887512207031, -56.56962966918945, 1.5037593841552734 ]
3.8
76
0
76
0
[ -5.317873001098633, -14.059240341186523, 27.034358978271484, 74.64668273925781, -56.44397735595703, 4.0867390632629395 ]
[ -5.760708808898926, -13.486004829406738, 32.29259490966797, 76.6751480102539, -56.56962966918945, 1.5037593841552734 ]
3.85
77
0
77
0
[ -5.317873001098633, -14.059240341186523, 27.034358978271484, 74.21841430664062, -56.44397735595703, 5.671392917633057 ]
[ -5.760708808898926, -13.401187896728516, 32.29259490966797, 76.16624450683594, -56.56962966918945, 1.9138755798339844 ]
3.9
78
0
78
0
[ -5.317873001098633, -14.059240341186523, 26.853527069091797, 74.04711151123047, -56.44397735595703, 6.422018527984619 ]
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3.95
79
0
79
0
[ -5.317873001098633, -14.476428985595703, 26.853527069091797, 73.27622985839844, -56.39137268066406, 6.755629539489746 ]
[ -5.760708808898926, -13.401187896728516, 32.29259490966797, 74.89397430419922, -56.56962966918945, 3.8277511596679688 ]
4
80
0
80
0
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4.05
81
0
81
0
[ -5.317873001098633, -13.892365455627441, 25.768535614013672, 72.6766586303711, -56.338768005371094, 6.755629539489746 ]
[ -5.760708808898926, -13.401187896728516, 32.29259490966797, 73.96098327636719, -56.56962966918945, 5.536568641662598 ]
4.1
82
0
82
0
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4.15
83
0
83
0
[ -5.317873001098633, -13.558614730834961, 24.412296295166016, 71.9057846069336, -56.286163330078125, 6.755629539489746 ]
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4.2
84
0
84
0
[ -5.477808952331543, -13.391739845275879, 24.05063247680664, 71.04924774169922, -55.865333557128906, 7.089241027832031 ]
[ -5.760708808898926, -12.892281532287598, 30.686885833740234, 73.11280822753906, -56.56962966918945, 6.151742935180664 ]
4.25
85
0
85
0
[ -5.477808952331543, -12.9745512008667, 23.236888885498047, 70.79228973388672, -55.18148422241211, 8.924103736877441 ]
[ -5.760708808898926, -12.892281532287598, 29.884031295776367, 72.688720703125, -56.56962966918945, 6.288448333740234 ]
4.3
86
0
86
0
[ -5.717712879180908, -12.140174865722656, 23.146472930908203, 70.10706329345703, -55.18148422241211, 11.926605224609375 ]
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4.35
87
0
87
0
[ -5.797680854797363, -10.721735954284668, 22.603979110717773, 69.76445770263672, -55.33929443359375, 15.179316520690918 ]
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4.4
88
0
88
0
[ -5.797680854797363, -8.719232559204102, 22.2423152923584, 68.82227325439453, -55.44450378417969, 18.09841537475586 ]
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4.45
89
0
89
0
[ -5.797680854797363, -6.549853801727295, 21.33815574645996, 68.22269439697266, -55.44450378417969, 20.8507080078125 ]
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4.5
90
0
90
0
[ -5.797680854797363, -4.463913440704346, 20.34358024597168, 67.96573638916016, -55.44450378417969, 22.935779571533203 ]
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4.55
91
0
91
0
[ -5.717712879180908, -2.5448477268218994, 19.801084518432617, 67.79443359375, -55.44450378417969, 24.603836059570312 ]
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4.6
92
0
92
0
[ -5.477808952331543, -1.1264079809188843, 19.258588790893555, 67.45182037353516, -55.44450378417969, 25.85487937927246 ]
[ -5.760708808898926, -4.325699806213379, 25.602140426635742, 68.8719253540039, -55.57304000854492, 19.890636444091797 ]
4.65
93
0
93
0
[ -5.397840976715088, 0.2920317053794861, 18.08318328857422, 67.36616516113281, -55.39189910888672, 26.939115524291992 ]
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4.7
94
0
94
0
[ -5.397840976715088, 1.7104713916778564, 16.817359924316406, 67.45182037353516, -55.23408889770508, 28.023353576660156 ]
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4.75
95
0
95
0
[ -5.317873001098633, 2.6282854080200195, 15.732368469238281, 67.45182037353516, -55.18148422241211, 29.19099235534668 ]
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4.8
96
0
96
0
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4.85
97
0
97
0
[ -5.317873001098633, 3.796412229537964, 14.014466285705566, 67.45182037353516, -55.23408889770508, 30.94245147705078 ]
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4.9
98
0
98
0
[ -5.477808952331543, 4.046725273132324, 13.291139602661133, 67.62312316894531, -55.39189910888672, 31.60967445373535 ]
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4.95
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": "so101_follower",
    "total_episodes": 25,
    "total_frames": 7500,
    "total_tasks": 1,
    "total_videos": 50,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 20,
    "splits": {
        "train": "0:25"
    },
    "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": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
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            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ]
        },
        "observation.images.gripper": {
            "dtype": "video",
            "shape": [
                720,
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            "names": [
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            "info": {
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        "observation.images.front": {
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            "info": {
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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