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Datasets:
thchi102
/
paper_ball_mar24_2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
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pandas
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float32
0
32.3
frame_index
int64
0
970
episode_index
int64
0
39
index
int64
0
23k
task_index
int64
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2
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2.133333
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2.233333
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2.3
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2.4
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2.433333
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2.5
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2.533333
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2.6
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2.633333
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2.7
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2.733333
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2.8
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2.833333
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2.866667
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2.9
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2.933333
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3
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3.033333
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3.066667
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3.1
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3.133333
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3.166667
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3.2
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3.233333
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[ -0.4402279853820801, 1.5351285934448242, -0.8870499730110168, 0.02081122249364853, 0.13594456017017365, 0.10553888976573944, 0.05747000128030777 ]
[ -0.43607622385025024, 1.3896069526672363, -0.8157196640968323, 0.020985666662454605, 0.139224112033844, 0.10573077946901321, 0.0560699999332428 ]
3.266667
98
0
98
0
[ -0.44699645042419434, 1.5568468570709229, -0.8999239802360535, 0.02218933403491974, 0.13360700011253357, 0.1072484478354454, 0.05747000128030777 ]
[ -0.43607622385025024, 1.413209319114685, -0.8310533165931702, 0.020985666662454605, 0.139224112033844, 0.10573077946901321, 0.05635000020265579 ]
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": "piper_follower",
    "total_episodes": 40,
    "total_frames": 23000,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:40"
    },
    "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": [
                "joint_1.pos",
                "joint_2.pos",
                "joint_3.pos",
                "joint_4.pos",
                "joint_5.pos",
                "joint_6.pos",
                "gripper.pos"
            ],
            "shape": [
                7
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "joint_1.pos",
                "joint_2.pos",
                "joint_3.pos",
                "joint_4.pos",
                "joint_5.pos",
                "joint_6.pos",
                "gripper.pos"
            ],
            "shape": [
                7
            ]
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "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
            }
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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