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Datasets:
JunnDooChoi
/
robotwin_unified

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1M - 10M
Tags:
LeRobot
Libraries:
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Dask
Polars
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observation.state
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2
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2.133333
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2.233333
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2.333333
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2.366667
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[ -0.8911374807357788, 2.101517677307129, 1.7975071668624878, -1.2844176292419434, 0.01629098504781723, 1.0117079019546509, 0, 0, 0, 0, 0, 0, 0, 1 ]
2.966667
89
0
89
0
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3
90
0
90
0
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3.033333
91
0
91
0
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[ -0.8811812400817871, 2.0667667388916016, 1.7424395084381104, -1.203521966934204, 0.005946144927293062, 0.9827355146408081, 0, 0, 0, 0, 0, 0, 0, 1 ]
3.066667
92
0
92
0
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3.1
93
0
93
0
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[ -0.8664069771766663, 2.0256457328796387, 1.6683369874954224, -1.1035360097885132, -0.007182901259511709, 0.9461956024169922, 0, 0, 0, 0, 0, 0, 0, 1 ]
3.133333
94
0
94
0
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[ -0.8563934564590454, 2.0019707679748535, 1.6197190284729004, -1.0430073738098145, -0.015454895794391632, 0.9234955310821533, 0, 0, 0, 0, 0, 0, 0, 1 ]
3.166667
95
0
95
0
[ -0.8563934564590454, 2.0019707679748535, 1.6197190284729004, -1.0430073738098145, -0.015454895794391632, 0.9234955310821533, 0, 0, 0, 0, 0, 0, 0, 1 ]
[ -0.8446503281593323, 1.9770317077636719, 1.5638933181762695, -0.9773246645927429, -0.024728847667574883, 0.8982291221618652, 0, 0, 0, 0, 0, 0, 0, 1 ]
3.2
96
0
96
0
[ -0.8446503281593323, 1.9770317077636719, 1.5638933181762695, -0.9773246645927429, -0.024728847667574883, 0.8982291221618652, 0, 0, 0, 0, 0, 0, 0, 1 ]
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3.233333
97
0
97
0
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[ -0.81582111120224, 1.9239158630371094, 1.4315688610076904, -0.8348401188850403, -0.046044666320085526, 0.8406654596328735, 0, 0, 0, 0, 0, 0, 0, 1 ]
3.266667
98
0
98
0
[ -0.81582111120224, 1.9239158630371094, 1.4315688610076904, -0.8348401188850403, -0.046044666320085526, 0.8406654596328735, 0, 0, 0, 0, 0, 0, 0, 1 ]
[ -0.7983890175819397, 1.8957548141479492, 1.3552876710891724, -0.7591847777366638, -0.05805344134569168, 0.8085207343101501, 0, 0, 0, 0, 0, 0, 0, 1 ]
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": "aloha",
    "total_episodes": 27500,
    "total_frames": 6075103,
    "total_tasks": 23559,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
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    "splits": {
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    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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    "features": {
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                    "left_forearm_roll",
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                    "left_gripper",
                    "right_waist",
                    "right_shoulder",
                    "right_elbow",
                    "right_forearm_roll",
                    "right_wrist_angle",
                    "right_wrist_rotate",
                    "right_gripper"
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        "action": {
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                    "right_elbow",
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}

Citation

BibTeX:

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