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Datasets:
vraiRobotLab
/
bi_pick_and_stack

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
100K - 1M
Tags:
LeRobot
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
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observation.state
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timestamp
float32
0
29.8
frame_index
int64
0
895
episode_index
int64
0
148
index
int64
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133k
task_index
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2.833333
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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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95
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[ 36.96703338623047, 9.142857551574707, -13.670330047607422, 90.85713958740234, -26.153846740722656, 57.66215133666992, -28.439559936523438, 53.36263656616211, -26.19780158996582, 65.67032623291016, 13.670330047607422, 27.82411003112793 ]
[ 36.96703338623047, 10.637362480163574, -12.659340858459473, 90.989013671875, -26.065933227539062, 57.938541412353516, -28.21977996826172, 51.736263275146484, -26.285715103149414, 65.84615325927734, 14.021978378295898, 28.099729537963867 ]
3.2
96
0
96
0
[ 36.96703338623047, 9.142857551574707, -13.670330047607422, 90.85713958740234, -26.153846740722656, 57.66215133666992, -28.351648330688477, 53.36263656616211, -26.19780158996582, 65.67032623291016, 13.670330047607422, 27.82411003112793 ]
[ 36.96703338623047, 10.637362480163574, -12.659340858459473, 90.989013671875, -26.065933227539062, 57.938541412353516, -28.21977996826172, 51.736263275146484, -26.285715103149414, 65.84615325927734, 14.021978378295898, 28.099729537963867 ]
3.233333
97
0
97
0
[ 36.96703338623047, 9.142857551574707, -13.670330047607422, 90.85713958740234, -26.153846740722656, 57.66215133666992, -28.351648330688477, 53.4505500793457, -26.10988998413086, 65.67032623291016, 13.670330047607422, 27.82411003112793 ]
[ 36.96703338623047, 10.637362480163574, -12.659340858459473, 90.989013671875, -26.065933227539062, 57.938541412353516, -28.21977996826172, 51.736263275146484, -26.285715103149414, 65.84615325927734, 14.021978378295898, 28.099729537963867 ]
3.266667
98
0
98
0
[ 36.96703338623047, 9.142857551574707, -13.670330047607422, 90.85713958740234, -26.153846740722656, 57.66215133666992, -28.263736724853516, 53.4505500793457, -25.846153259277344, 65.67032623291016, 13.670330047607422, 27.82411003112793 ]
[ 36.96703338623047, 10.637362480163574, -12.659340858459473, 90.989013671875, -26.065933227539062, 57.938541412353516, -28.21977996826172, 51.736263275146484, -26.285715103149414, 65.84615325927734, 14.021978378295898, 28.099729537963867 ]
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",
    "fps": 30,
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
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                "left_shoulder_lift.pos",
                "left_elbow_flex.pos",
                "left_wrist_flex.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_roll.pos",
                "right_gripper.pos"
            ],
            "shape": [
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        },
        "observation.state": {
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            "names": [
                "left_shoulder_pan.pos",
                "left_shoulder_lift.pos",
                "left_elbow_flex.pos",
                "left_wrist_flex.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_roll.pos",
                "right_gripper.pos"
            ],
            "shape": [
                12
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        },
        "observation.images.left_camera1": {
            "dtype": "video",
            "shape": [
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            "names": [
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                "video.extra_options": {}
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        },
        "observation.images.right_camera2": {
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            "shape": [
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            "names": [
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            "info": {
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                "video.width": 320,
                "video.codec": "av1",
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        "timestamp": {
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        "index": {
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        "task_index": {
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    },
    "total_episodes": 149,
    "total_frames": 133322,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "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",
    "robot_type": "bi_so_follower",
    "splits": {
        "train": "0:149"
    }
}

Citation

BibTeX:

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License:
apache-2.0
Number of rows:
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Total file size:
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Models trained or fine-tuned on vraiRobotLab/bi_pick_and_stack