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Datasets:
yoshikokulala
/
hakosime

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
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pandas
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observation.state
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float32
0
28.7
frame_index
int64
0
861
episode_index
int64
0
9
index
int64
0
8.62k
task_index
int64
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3
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[ 2.5414364337921143, -99.14857482910156, 88.8036117553711, 47.98089599609375, -2.17338228225708, 2.5675675868988037, -12.641879081726074, -98.81906127929688, 97.48991394042969, 70.44377136230469, -2.857142925262451, 1.8892507553100586 ]
3.166667
95
0
95
0
[ 4.261572360992432, -99.16352844238281, 79.62127685546875, 44.51272964477539, -2.07570219039917, 2.0602219104766846, -13.089005470275879, -100, 92.93478393554688, 72.33304595947266, -2.3199024200439453, 0.8271298408508301 ]
[ 2.5414364337921143, -99.06343078613281, 87.26862335205078, 46.678245544433594, -2.17338228225708, 2.3648648262023926, -12.641879081726074, -98.81906127929688, 97.48991394042969, 70.44377136230469, -2.857142925262451, 1.8892507553100586 ]
3.2
96
0
96
0
[ 4.922850608825684, -99.07987976074219, 78.80973815917969, 46.532047271728516, -2.026862144470215, 2.0602219104766846, -13.089005470275879, -100, 92.93478393554688, 72.33304595947266, -2.3199024200439453, 0.8271298408508301 ]
[ 2.5414364337921143, -99.14857482910156, 85.73363494873047, 45.89665603637695, -2.17338228225708, 2.297297239303589, -12.7201566696167, -98.81906127929688, 97.48991394042969, 70.44377136230469, -2.857142925262451, 1.8892507553100586 ]
3.233333
97
0
97
0
[ 5.510653972625732, -99.41447448730469, 77.7276840209961, 50.395084381103516, -1.9780219793319702, 2.0602219104766846, -13.089005470275879, -100, 92.93478393554688, 72.33304595947266, -2.3199024200439453, 0.8271298408508301 ]
[ 2.5414364337921143, -99.14857482910156, 84.10835266113281, 45.54928207397461, -2.17338228225708, 2.229729652404785, -12.7201566696167, -98.81906127929688, 97.48991394042969, 70.44377136230469, -2.857142925262451, 1.8892507553100586 ]
3.266667
98
0
98
0
[ 5.878030776977539, -99.49811553955078, 76.10459899902344, 55.48727035522461, -1.9780219793319702, 2.0602219104766846, -13.089005470275879, -100, 92.93478393554688, 72.33304595947266, -2.3199024200439453, 0.8271298408508301 ]
[ 3.4990792274475098, -99.23371887207031, 82.84424591064453, 45.54928207397461, -2.17338228225708, 2.1621620655059814, -12.641879081726074, -98.81906127929688, 97.48991394042969, 70.44377136230469, -2.857142925262451, 1.8892507553100586 ]
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": "bi_so100_follower",
    "total_episodes": 10,
    "total_frames": 8620,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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": [
                "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
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "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
            ]
        },
        "observation.images.front": {
            "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.top": {
            "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
            }
        },
        "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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Models trained or fine-tuned on yoshikokulala/hakosime