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Datasets:
xhaka3456
/
ces

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
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float32
0
17.7
frame_index
int64
0
532
episode_index
int64
0
129
index
int64
0
69.3k
task_index
int64
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2.133333
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2.166667
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2.2
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2.233333
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2.3
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2.366667
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2.433333
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2.466667
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2.5
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2.533333
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2.566667
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2.6
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2.633333
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2.666667
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2.7
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2.733333
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2.8
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2.9
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3
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3.1
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[ 0.759946346282959, -98.29931640625, 92.99681854248047, 67.51091766357422, 4.370447635650635, 1.1896893978118896, -11.148225784301758, -97.20457458496094, 99.27073669433594, 70.14925384521484, -7.306889533996582, 0.9900990128517151 ]
3.166667
95
0
95
0
[ 2.121896266937256, -83.03945922851562, 74.24311065673828, 67.10920715332031, 4.201680660247803, 0.9546539187431335, -11.370786666870117, -96.98365783691406, 99.63866424560547, 70.44967651367188, -7.432432651519775, 1.0132502317428589 ]
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3.2
96
0
96
0
[ 3.2054176330566406, -78.25357055664062, 70.08585357666016, 67.10920715332031, 4.150751113891602, 0.9546539187431335, -11.370786666870117, -96.98365783691406, 99.63866424560547, 70.44967651367188, -7.432432651519775, 1.0132502317428589 ]
[ 0.8493518233299255, -93.96258544921875, 87.63074493408203, 67.51091766357422, 4.370447635650635, 1.1896893978118896, -11.148225784301758, -97.20457458496094, 99.27073669433594, 70.14925384521484, -7.306889533996582, 0.9900990128517151 ]
3.233333
97
0
97
0
[ 4.559819221496582, -72.79596710205078, 65.29597473144531, 67.10920715332031, 4.150751113891602, 1.0342084169387817, -11.370786666870117, -96.98365783691406, 99.63866424560547, 70.44967651367188, -7.432432651519775, 1.0132502317428589 ]
[ 1.206973671913147, -91.07142639160156, 84.62937927246094, 67.51091766357422, 4.370447635650635, 1.1896893978118896, -11.148225784301758, -97.20457458496094, 99.27073669433594, 70.14925384521484, -7.306889533996582, 0.9900990128517151 ]
3.266667
98
0
98
0
[ 5.462753772735596, -67.75818634033203, 60.957977294921875, 67.10920715332031, 4.150751113891602, 1.1137629747390747, -11.370786666870117, -96.98365783691406, 99.63866424560547, 70.44967651367188, -7.432432651519775, 1.0132502317428589 ]
[ 1.7434062957763672, -87.0748291015625, 80.62755584716797, 67.51091766357422, 4.370447635650635, 1.1896893978118896, -11.148225784301758, -97.20457458496094, 99.27073669433594, 70.14925384521484, -7.306889533996582, 0.9900990128517151 ]
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": "v3.0",
    "robot_type": "bi_so101_follower",
    "total_episodes": 130,
    "total_frames": 69259,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:130"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "left_shoulder_pan.pos",
                "left_shoulder_lift.pos",
                "left_elbow_flex.pos",
                "left_wrist_flex.pos",
                "left_wrist_roll.pos",
                "left_gripper.pos",
                "right_shoulder_pan.pos",
                "right_shoulder_lift.pos",
                "right_elbow_flex.pos",
                "right_wrist_flex.pos",
                "right_wrist_roll.pos",
                "right_gripper.pos"
            ],
            "shape": [
                12
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "left_shoulder_pan.pos",
                "left_shoulder_lift.pos",
                "left_elbow_flex.pos",
                "left_wrist_flex.pos",
                "left_wrist_roll.pos",
                "left_gripper.pos",
                "right_shoulder_pan.pos",
                "right_shoulder_lift.pos",
                "right_elbow_flex.pos",
                "right_wrist_flex.pos",
                "right_wrist_roll.pos",
                "right_gripper.pos"
            ],
            "shape": [
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        },
        "observation.images.left": {
            "dtype": "video",
            "shape": [
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.right": {
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            "shape": [
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            "names": [
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            "info": {
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                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
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        },
        "observation.images.front": {
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            "names": [
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            "info": {
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                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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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
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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Downloads last month
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License:
apache-2.0
Size of downloaded dataset files:
3.33 MB
Size of the auto-converted Parquet files:
3.33 MB
Number of rows:
69,259

Models trained or fine-tuned on xhaka3456/ces