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Datasets:
Gongsta
/
grasp_duck_in_cup

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
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action
sequence
observation.state
sequence
timestamp
float32
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9.93
frame_index
int64
0
298
episode_index
int64
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19
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[ -11.513671875, 101.25, 96.591796875, 86.044921875, 100.810546875, 33.134765625 ]
2.533333
76
0
76
0
[ -10.986328125, 100.283203125, 88.857421875, 91.93359375, 100.810546875, 34.189453125 ]
[ -11.42578125, 100.72265625, 94.39453125, 87.275390625, 100.8984375, 33.134765625 ]
2.566667
77
0
77
0
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[ -11.42578125, 100.1953125, 92.63671875, 88.41796875, 100.8984375, 33.22265625 ]
2.6
78
0
78
0
[ -11.953125, 98.96484375, 86.1328125, 92.021484375, 100.8984375, 34.189453125 ]
[ -11.337890625, 99.755859375, 91.23046875, 89.208984375, 100.8984375, 33.134765625 ]
2.633333
79
0
79
0
[ -12.3046875, 97.91015625, 84.638671875, 92.021484375, 100.8984375, 34.189453125 ]
[ -11.42578125, 99.140625, 90, 89.736328125, 100.8984375, 33.22265625 ]
2.666667
80
0
80
0
[ -12.568359375, 96.85546875, 82.96875, 92.021484375, 100.8984375, 34.189453125 ]
[ -11.689453125, 98.26171875, 88.76953125, 90, 100.8984375, 33.22265625 ]
2.7
81
0
81
0
[ -13.0078125, 95.625, 81.474609375, 92.021484375, 100.8984375, 34.189453125 ]
[ -12.041015625, 97.470703125, 87.451171875, 90.087890625, 100.8984375, 33.134765625 ]
2.733333
82
0
82
0
[ -13.53515625, 94.21875, 79.98046875, 92.109375, 100.986328125, 34.189453125 ]
[ -12.392578125, 96.416015625, 85.869140625, 90.087890625, 100.8984375, 33.22265625 ]
2.766667
83
0
83
0
[ -13.974609375, 92.900390625, 78.662109375, 92.109375, 100.986328125, 34.189453125 ]
[ -12.744140625, 95.185546875, 83.84765625, 90.17578125, 100.8984375, 33.22265625 ]
2.8
84
0
84
0
[ -14.58984375, 91.494140625, 77.431640625, 92.109375, 100.986328125, 34.189453125 ]
[ -13.271484375, 93.8671875, 82.177734375, 90.087890625, 100.8984375, 33.134765625 ]
2.833333
85
0
85
0
[ -15.1171875, 90.263671875, 76.201171875, 92.021484375, 100.8984375, 34.189453125 ]
[ -13.798828125, 92.373046875, 80.947265625, 90.087890625, 100.8984375, 33.22265625 ]
2.866667
86
0
86
0
[ -15.8203125, 89.033203125, 75.05859375, 92.021484375, 100.8984375, 34.189453125 ]
[ -14.23828125, 91.0546875, 79.892578125, 90.17578125, 100.8984375, 33.22265625 ]
2.9
87
0
87
0
[ -16.611328125, 87.802734375, 73.740234375, 92.021484375, 100.810546875, 34.189453125 ]
[ -14.853515625, 89.82421875, 79.189453125, 90.087890625, 100.8984375, 33.22265625 ]
2.933333
88
0
88
0
[ -17.2265625, 86.66015625, 72.509765625, 92.109375, 100.72265625, 34.27734375 ]
[ -15.380859375, 88.59375, 78.310546875, 90.17578125, 100.8984375, 33.134765625 ]
2.966667
89
0
89
0
[ -17.666015625, 85.4296875, 71.103515625, 92.021484375, 100.634765625, 34.27734375 ]
[ -16.083984375, 87.275390625, 76.904296875, 90.17578125, 100.8984375, 33.134765625 ]
3
90
0
90
0
[ -18.10546875, 84.55078125, 69.873046875, 92.109375, 100.634765625, 34.189453125 ]
[ -16.69921875, 86.1328125, 75.234375, 90.17578125, 100.8984375, 33.22265625 ]
3.033333
91
0
91
0
[ -18.45703125, 83.671875, 68.818359375, 92.021484375, 100.546875, 34.27734375 ]
[ -17.314453125, 85.078125, 73.740234375, 90.17578125, 100.8984375, 33.134765625 ]
3.066667
92
0
92
0
[ -18.720703125, 83.056640625, 67.939453125, 92.109375, 100.458984375, 34.189453125 ]
[ -17.75390625, 84.111328125, 72.333984375, 90.17578125, 100.8984375, 33.22265625 ]
3.1
93
0
93
0
[ -18.984375, 82.44140625, 67.32421875, 92.109375, 100.458984375, 34.27734375 ]
[ -18.10546875, 83.232421875, 71.3671875, 90.17578125, 100.8984375, 33.22265625 ]
3.133333
94
0
94
0
[ -19.072265625, 81.73828125, 66.97265625, 92.021484375, 100.458984375, 34.27734375 ]
[ -18.369140625, 82.44140625, 70.927734375, 90.17578125, 100.8984375, 33.22265625 ]
3.166667
95
0
95
0
[ -19.16015625, 80.947265625, 66.62109375, 92.021484375, 100.458984375, 34.27734375 ]
[ -18.45703125, 81.73828125, 70.6640625, 90.087890625, 100.8984375, 33.22265625 ]
3.2
96
0
96
0
[ -19.072265625, 79.8046875, 66.005859375, 92.021484375, 100.37109375, 34.27734375 ]
[ -18.544921875, 81.123046875, 70.576171875, 90.17578125, 100.8984375, 33.134765625 ]
3.233333
97
0
97
0
[ -19.072265625, 78.486328125, 65.302734375, 92.021484375, 100.37109375, 34.365234375 ]
[ -18.544921875, 80.15625, 70.576171875, 90.087890625, 100.8984375, 33.134765625 ]
3.266667
98
0
98
0
[ -18.80859375, 76.904296875, 64.423828125, 92.109375, 100.283203125, 34.365234375 ]
[ -18.544921875, 79.013671875, 69.873046875, 90.17578125, 100.8984375, 33.22265625 ]
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": "v2.1",
    "robot_type": "koch",
    "total_episodes": 20,
    "total_frames": 5980,
    "total_tasks": 1,
    "total_videos": 20,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:20"
    },
    "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": [
                6
            ],
            "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": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "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": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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