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Datasets:
lerobot
/
utokyo_pr2_opening_fridge

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
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Dask
License:
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observation.state
sequence
action
sequence
timestamp
float32
0
39.4
episode_index
int64
0
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frame_index
int64
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197
next.reward
float32
0
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next.done
bool
2 classes
index
int64
0
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task_index
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This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "unknown",
    "total_episodes": 80,
    "total_frames": 11522,
    "total_tasks": 1,
    "total_videos": 80,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 5,
    "splits": {
        "train": "0:80"
    },
    "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": {
        "observation.images.image": {
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            "shape": [
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            "names": [
                "height",
                "width",
                "channel"
            ],
            "video_info": {
                "video.fps": 5.0,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "language_instruction": {
            "dtype": "string",
            "shape": [
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            "names": null
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": {
                "motors": [
                    "motor_0",
                    "motor_1",
                    "motor_2",
                    "motor_3",
                    "motor_4",
                    "motor_5",
                    "motor_6"
                ]
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        },
        "action": {
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            "names": {
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                    "motor_1",
                    "motor_2",
                    "motor_3",
                    "motor_4",
                    "motor_5",
                    "motor_6",
                    "motor_7"
                ]
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        },
        "timestamp": {
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            "names": null
        },
        "episode_index": {
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        "frame_index": {
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        "next.reward": {
            "dtype": "float32",
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        "next.done": {
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        "index": {
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        },
        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

@misc{oh2023pr2utokyodatasets,
    author={Jihoon Oh and Naoaki Kanazawa and Kento Kawaharazuka},
    title={X-Embodiment U-Tokyo PR2 Datasets},
    year={2023},
    url={https://github.com/ojh6404/rlds_dataset_builder},
}
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