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Datasets:
nuffnuff
/
yam-pour-v5

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
100K - 1M
Tags:
LeRobot
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
 Community
1
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observation.state
list
action
list
timestamp
float32
0
89.9
frame_index
int64
0
1.35k
episode_index
int64
0
139
index
int64
0
123k
task_index
int64
0
0
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[ 10.283818244934082, 6.418219566345215, 51.56594467163086, -53.27586364746094, 0, -2.759462833404541, 64.2533950805664, -9.457755088806152, -97.03459930419922, 99.63768005371094, 0, 0, -3.7362637519836426, 2.8985507488250732 ]
5.8
87
0
87
0
[ 10.301725387573242, 7.05864953994751, 50.80577087402344, -53.5701789855957, -0.21060074865818024, -3.3058722019195557, 64.53241729736328, -9.345894813537598, -92.70445251464844, 92.59770965576172, -1.008666753768921, 0.1884322464466095, -3.509833335876465, 5.197849273681641 ]
[ 11.168448448181152, 3.1055901050567627, 53.68328094482422, -53.27586364746094, 0, -2.9548230171203613, 64.2533950805664, -9.457755088806152, -97.03459930419922, 99.63768005371094, 0, 0, -3.7362637519836426, 2.8985507488250732 ]
5.866667
88
0
88
0
[ 11.144861221313477, 5.204388618469238, 52.691410064697266, -53.215484619140625, -0.16626374423503876, -3.3058722019195557, 64.53241729736328, -9.345894813537598, -92.70445251464844, 92.59770965576172, -1.0308352708816528, 0.21060074865818024, -3.5268301963806152, 5.190955638885498 ]
[ 11.463324546813965, -0.8695651888847351, 56.59461975097656, -53.27586364746094, 0, -2.808302879333496, 64.2533950805664, -9.457755088806152, -97.03459930419922, 99.63768005371094, 0, 0, -3.7362637519836426, 2.8985507488250732 ]
5.933333
89
0
89
0
[ 11.655853271484375, 1.2447692155838013, 55.69303894042969, -53.060306549072266, -0.03325274959206581, -3.3058722019195557, 64.53241729736328, -9.345894813537598, -92.70445251464844, 92.59770965576172, -1.008666753768921, 0.21060074865818024, -3.509833335876465, 5.204742908477783 ]
[ 11.758201599121094, -4.679089069366455, 59.94706726074219, -53.27586364746094, 0, -2.9059829711914062, 64.2533950805664, -9.457755088806152, -97.03459930419922, 99.63768005371094, 0, 0, -3.7362637519836426, 2.8985507488250732 ]
6
90
0
90
0
[ 11.860249519348145, -2.8500568866729736, 58.48301696777344, -53.14897918701172, -0.011084250174462795, -3.3058722019195557, 64.53241729736328, -9.345894813537598, -92.70445251464844, 92.59770965576172, -1.0308352708816528, 0.1884322464466095, -3.509833335876465, 5.197849273681641 ]
[ 11.9056396484375, -8.240165710449219, 62.770179748535156, -53.27586364746094, 0, -2.857142925262451, 64.2533950805664, -9.457755088806152, -97.03459930419922, 99.63768005371094, 0, 0, -3.7362637519836426, 2.8985507488250732 ]
6.066667
91
0
91
0
[ 11.962448120117188, -7.505024433135986, 61.36920166015625, -53.370662689208984, -0.03325274959206581, -3.3058722019195557, 64.53241729736328, -9.345894813537598, -92.70445251464844, 92.59770965576172, -1.008666753768921, 0.23276925086975098, -3.509833335876465, 5.197849273681641 ]
[ 12.274234771728516, -11.387163162231445, 65.4168472290039, -53.27586364746094, 0, -2.808302879333496, 64.2533950805664, -9.457755088806152, -97.03459930419922, 99.63768005371094, 0, 0, -3.7362637519836426, 2.8985507488250732 ]
6.133333
92
0
92
0
[ 12.03909683227539, -10.807926177978516, 63.67815017700195, -53.61451721191406, -0.011084250174462795, -3.2888753414154053, 64.53241729736328, -9.345894813537598, -92.70445251464844, 92.59770965576172, -0.986498236656189, 0.1884322464466095, -3.509833335876465, 5.204742908477783 ]
[ 12.642830848693848, -14.285714149475098, 68.06352233886719, -53.27586364746094, 0, -2.759462833404541, 64.2533950805664, -9.457755088806152, -97.03459930419922, 99.63768005371094, 0, 0, -3.7362637519836426, 2.8985507488250732 ]
6.2
93
0
93
0
[ 12.371241569519043, -13.647263526916504, 66.17950439453125, -53.703189849853516, -0.05542124807834625, -3.2888753414154053, 64.53241729736328, -9.345894813537598, -92.70445251464844, 92.59770965576172, -1.0308352708816528, 0.1884322464466095, -3.4928367137908936, 5.190955638885498 ]
[ 13.380022048950195, -17.018632888793945, 70.974853515625, -53.27586364746094, 0, -2.759462833404541, 64.2533950805664, -9.457755088806152, -97.03459930419922, 99.63768005371094, 0, 0, -3.7362637519836426, 2.8985507488250732 ]
6.266667
94
0
94
0
[ 13.124953269958496, -16.235502243041992, 69.10417175292969, -53.63668441772461, -0.05542124807834625, -3.2888753414154053, 64.53241729736328, -9.345894813537598, -92.70445251464844, 92.59770965576172, -0.986498236656189, 0.1884322464466095, -3.5268301963806152, 5.190955638885498 ]
[ 15.001843452453613, -19.668737411499023, 74.15086364746094, -53.18965530395508, 0, -2.759462833404541, 64.2533950805664, -9.457755088806152, -97.03459930419922, 99.63768005371094, 0, 0, -3.7362637519836426, 2.8985507488250732 ]
6.333333
95
0
95
0
[ 14.709027290344238, -18.86237144470215, 72.50987243652344, -53.5036735534668, -0.21060074865818024, -3.3058722019195557, 64.53241729736328, -9.345894813537598, -92.70445251464844, 92.59770965576172, -1.008666753768921, 0.1884322464466095, -3.5268301963806152, 5.197849273681641 ]
[ 17.213417053222656, -22.236024856567383, 76.9739761352539, -53.18965530395508, 0, -2.759462833404541, 64.2533950805664, -9.457755088806152, -97.03459930419922, 99.63768005371094, 0, 0, -3.7362637519836426, 2.8985507488250732 ]
6.4
96
0
96
0
[ 17.12346076965332, -21.238143920898438, 75.72315216064453, -53.28199005126953, -0.23276925086975098, -3.3058722019195557, 64.53241729736328, -9.345894813537598, -92.70445251464844, 92.59770965576172, -1.008666753768921, 0.21060074865818024, -3.509833335876465, 5.197849273681641 ]
[ 19.646148681640625, -23.478260040283203, 79.44419860839844, -53.18965530395508, 0, -2.759462833404541, 64.2533950805664, -9.457755088806152, -97.03459930419922, 99.63768005371094, 0, 0, -3.7362637519836426, 2.8985507488250732 ]
6.466667
97
0
97
0
[ 19.474021911621094, -22.648155212402344, 77.99362182617188, -53.23765182495117, -0.05542124807834625, -3.3058722019195557, 64.53241729736328, -9.345894813537598, -92.70445251464844, 92.59770965576172, -1.008666753768921, 0.21060074865818024, -3.509833335876465, 5.197849273681641 ]
[ 21.78400230407715, -23.8923397064209, 81.29686737060547, -52.931034088134766, 0, -2.759462833404541, 64.2533950805664, -9.457755088806152, -97.03459930419922, 99.63768005371094, 0, 0, -3.7362637519836426, 2.8985507488250732 ]
6.533333
98
0
98
0
[ 21.594636917114258, -23.2662410736084, 79.57140350341797, -52.5060920715332, -0.011084250174462795, -3.3058722019195557, 64.53241729736328, -9.345894813537598, -92.70445251464844, 92.59770965576172, -1.0308352708816528, 0.21060074865818024, -3.509833335876465, 5.197849273681641 ]
[ 24.06929588317871, -23.8923397064209, 81.91442108154297, -50.77586364746094, 0, -2.759462833404541, 64.2533950805664, -9.457755088806152, -97.03459930419922, 99.63768005371094, 0, 0, -3.7362637519836426, 2.8985507488250732 ]
6.6
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": "yam_follower_bimanual",
    "total_episodes": 140,
    "total_frames": 122722,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 15,
    "splits": {
        "train": "0:140"
    },
    "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": {
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            "names": [
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                "left_shoulder_lift.pos",
                "left_elbow_flex.pos",
                "left_wrist_flex.pos",
                "left_wrist_tilt.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_tilt.pos",
                "right_wrist_roll.pos",
                "right_gripper.pos"
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        "action": {
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            "names": [
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                "left_shoulder_lift.pos",
                "left_elbow_flex.pos",
                "left_wrist_flex.pos",
                "left_wrist_tilt.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_tilt.pos",
                "right_wrist_roll.pos",
                "right_gripper.pos"
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        "observation.images.head": {
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            "names": [
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            "info": {
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                "video.width": 320,
                "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.wrist_left": {
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        "observation.images.wrist_right": {
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        "frame_index": {
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        "episode_index": {
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    }
}

Citation

BibTeX:

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License:
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Models trained or fine-tuned on nuffnuff/yam-pour-v5