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xiaochyVera
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eval_pick_red_mug_dp_robot40_426

Tasks:
Robotics
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Tabular
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Size:
10K - 100K
Tags:
LeRobot
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observation.state
list
observation.right_eef_pose
list
action.right_eef_pose
list
timestamp
float32
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26.2
frame_index
int64
0
393
episode_index
int64
0
29
index
int64
0
10.6k
task_index
int64
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2.666667
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2.8
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2.866667
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3
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3.066667
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3.133333
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3.2
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3.266667
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3.333333
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3.4
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3.466667
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3.533333
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3.6
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3.666667
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3.733333
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3.8
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3.866667
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5
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[ -0.2952951192855835, -0.27272486686706543, -0.04293861240148544, -2.666534900665283, -0.08044873178005219, 2.2246921062469482, 0.10651662945747375, 1.000006914138794 ]
[ -0.27974823117256165, -0.2668955624103546, -0.02112657018005848, -2.668987274169922, -0.07394134253263474, 2.2032523155212402, 0.13957126438617706, 0.9882352948188782 ]
[ 0.9043462872505188, 0.3754275143146515, -0.20296180248260498, 0.3847419023513794, -0.9229870438575745, 0.0070221577771008015, 0.34235477447509766, -0.11513771861791611, 0.20800448954105377, 0.9882352948188782 ]
[ 0.906900942325592, 0.3803095817565918, -0.17440438270568848, 0.38811439275741577, -0.9207444787025452, 0.00543595664203167, 0.3454579710960388, -0.12872344255447388, 0.21825173497200012, 1.000006914138794 ]
6.6
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End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "droid",
    "total_episodes": 30,
    "total_frames": 10553,
    "total_tasks": 1,
    "total_videos": 90,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 15,
    "splits": {
        "train": "0:30"
    },
    "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": {
        "action": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": [
                "joint_1",
                "joint_2",
                "joint_3",
                "joint_4",
                "joint_5",
                "joint_6",
                "joint_7",
                "gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": [
                "joint_1",
                "joint_2",
                "joint_3",
                "joint_4",
                "joint_5",
                "joint_6",
                "joint_7",
                "gripper"
            ]
        },
        "observation.right_eef_pose": {
            "dtype": "float32",
            "shape": [
                10
            ],
            "names": [
                "rot_6d_0",
                "rot_6d_1",
                "rot_6d_2",
                "rot_6d_3",
                "rot_6d_4",
                "rot_6d_5",
                "trans_0",
                "trans_1",
                "trans_2",
                "gripper_articulation"
            ]
        },
        "action.right_eef_pose": {
            "dtype": "float32",
            "shape": [
                10
            ],
            "names": [
                "rot_6d_0",
                "rot_6d_1",
                "rot_6d_2",
                "rot_6d_3",
                "rot_6d_4",
                "rot_6d_5",
                "trans_0",
                "trans_1",
                "trans_2",
                "gripper_articulation"
            ]
        },
        "observation.images.cam_azure_kinect_left.color": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": "Raw color image"
        },
        "observation.images.cam_azure_kinect_front.color": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": "Raw color image"
        },
        "observation.images.cam_wrist": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": "RGB color image"
        },
        "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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