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Datasets:
zhoumiaosen
/
2Arms_Two_Objects_Combination

Tasks:
Robotics
Modalities:
Video
Tags:
LeRobot
License:
Dataset card Data Studio Files
xet
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action
list
observation.state
list
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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1.7
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1.9
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2
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2.6
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2.7
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2.8
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2.833333
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2.9
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3
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[ -10.02597427368164, -96.2248306274414, 98.09342193603516, 78.3045425415039, -1.5873016119003296, 7.87247896194458, 8.456083297729492, -97.23542022705078, 97.98902893066406, 76.61388397216797, -2.222222328186035, 1.9867550134658813 ]
3.2
96
0
96
0
[ -9.868122100830078, -94.95352172851562, 98.99082946777344, 83.64462280273438, -1.7338217496871948, 7.9758710861206055, 6.604866981506348, -97.40708923339844, 98.73108673095703, 86.41509246826172, -2.5641026496887207, 0 ]
[ -10.02597427368164, -96.2248306274414, 98.09342193603516, 78.3045425415039, -1.5873016119003296, 7.87247896194458, 8.456083297729492, -97.23542022705078, 97.98902893066406, 76.61388397216797, -2.222222328186035, 1.9867550134658813 ]
3.233333
97
0
97
0
[ -9.95907211303711, -94.95352172851562, 98.99082946777344, 83.54366302490234, -1.9780219793319702, 7.9758710861206055, 6.991116046905518, -97.40708923339844, 98.73108673095703, 86.41509246826172, -2.3687424659729004, 0 ]
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3.266667
98
0
98
0
[ -9.868122100830078, -94.95352172851562, 98.99082946777344, 82.53407287597656, -2.07570219039917, 7.9758710861206055, 6.991116046905518, -97.40708923339844, 98.73108673095703, 86.24738311767578, -2.124542236328125, 0 ]
[ -10.02597427368164, -96.2248306274414, 98.09342193603516, 78.3045425415039, -1.5873016119003296, 7.87247896194458, 8.456083297729492, -97.23542022705078, 97.98902893066406, 76.61388397216797, -2.222222328186035, 1.9867550134658813 ]
3.3
99
0
99
0
End of preview.

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "bi_so100_follower",
    "total_episodes": 41,
    "total_frames": 62480,
    "total_tasks": 2,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:41"
    },
    "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.top": {
            "dtype": "video",
            "shape": [
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                640,
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            ],
            "names": [
                "height",
                "width",
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            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.left": {
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            "names": [
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            "info": {
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            "info": {
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                "video.width": 640,
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        "timestamp": {
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            "names": null
        },
        "frame_index": {
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        "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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License:
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