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pick_place_pink_lego_few_samples

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Robotics
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action
sequence
observation.state
sequence
timestamp
float32
0
15.6
frame_index
int64
0
469
episode_index
int64
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20
index
int64
0
8.09k
task_index
int64
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[ -8.701171875, 100.458984375, 90.966796875, 82.705078125, 0.87890625, 34.013671875 ]
2.533333
76
0
76
0
[ -12.83203125, 99.31640625, 88.41796875, 86.1328125, 5.9765625, 35.859375 ]
[ -9.84375, 99.755859375, 90.703125, 82.79296875, 2.021484375, 34.013671875 ]
2.566667
77
0
77
0
[ -14.58984375, 98.26171875, 87.978515625, 86.1328125, 7.20703125, 36.123046875 ]
[ -11.25, 99.228515625, 90.52734375, 82.96875, 3.251953125, 34.013671875 ]
2.6
78
0
78
0
[ -16.083984375, 96.943359375, 87.451171875, 86.1328125, 8.701171875, 36.123046875 ]
[ -12.744140625, 97.998046875, 89.736328125, 82.96875, 4.5703125, 34.62890625 ]
2.633333
79
0
79
0
[ -17.490234375, 95.80078125, 86.923828125, 86.1328125, 10.01953125, 36.123046875 ]
[ -14.501953125, 96.591796875, 89.6484375, 82.96875, 5.9765625, 34.8046875 ]
2.666667
80
0
80
0
[ -18.544921875, 95.09765625, 86.748046875, 86.1328125, 10.986328125, 36.2109375 ]
[ -15.8203125, 95.537109375, 89.384765625, 83.056640625, 6.943359375, 34.8046875 ]
2.7
81
0
81
0
[ -20.126953125, 94.04296875, 86.30859375, 86.1328125, 13.18359375, 36.2109375 ]
[ -17.05078125, 94.74609375, 89.384765625, 83.14453125, 8.26171875, 34.8046875 ]
2.733333
82
0
82
0
[ -21.181640625, 93.251953125, 86.044921875, 86.1328125, 14.23828125, 36.2109375 ]
[ -18.10546875, 94.130859375, 89.296875, 83.232421875, 9.404296875, 34.8046875 ]
2.766667
83
0
83
0
[ -22.32421875, 92.197265625, 85.517578125, 86.1328125, 15.732421875, 36.2109375 ]
[ -19.423828125, 93.33984375, 89.208984375, 83.232421875, 10.8984375, 34.8046875 ]
2.8
84
0
84
0
[ -23.466796875, 91.23046875, 85.166015625, 86.1328125, 16.787109375, 36.2109375 ]
[ -20.7421875, 92.197265625, 88.59375, 83.3203125, 12.3046875, 34.8046875 ]
2.833333
85
0
85
0
[ -24.78515625, 90.263671875, 84.55078125, 86.220703125, 17.578125, 36.2109375 ]
[ -21.97265625, 91.23046875, 88.06640625, 83.3203125, 13.53515625, 34.8046875 ]
2.866667
86
0
86
0
[ -25.927734375, 88.505859375, 83.3203125, 86.66015625, 17.75390625, 36.2109375 ]
[ -23.02734375, 90.17578125, 87.71484375, 83.3203125, 14.853515625, 34.8046875 ]
2.9
87
0
87
0
[ -27.24609375, 86.8359375, 81.73828125, 87.01171875, 19.072265625, 36.2109375 ]
[ -23.994140625, 88.505859375, 86.1328125, 83.3203125, 15.8203125, 34.8046875 ]
2.933333
88
0
88
0
[ -28.125, 85.4296875, 80.33203125, 87.451171875, 19.775390625, 36.2109375 ]
[ -25.48828125, 86.66015625, 84.19921875, 83.583984375, 16.875, 34.8046875 ]
2.966667
89
0
89
0
[ -29.53125, 84.111328125, 79.62890625, 87.71484375, 20.7421875, 36.2109375 ]
[ -26.89453125, 85.25390625, 82.529296875, 83.759765625, 17.841796875, 34.8046875 ]
3
90
0
90
0
[ -31.11328125, 83.671875, 79.27734375, 87.802734375, 21.4453125, 36.2109375 ]
[ -28.125, 84.0234375, 81.826171875, 83.759765625, 18.544921875, 34.8046875 ]
3.033333
91
0
91
0
[ -32.255859375, 82.529296875, 78.134765625, 88.76953125, 22.060546875, 36.2109375 ]
[ -29.00390625, 83.14453125, 81.73828125, 83.671875, 19.16015625, 34.8046875 ]
3.066667
92
0
92
0
[ -33.57421875, 81.5625, 77.080078125, 89.6484375, 22.1484375, 36.2109375 ]
[ -30.498046875, 82.001953125, 81.73828125, 83.935546875, 20.126953125, 34.8046875 ]
3.1
93
0
93
0
[ -34.453125, 81.2109375, 76.904296875, 89.6484375, 22.5, 36.2109375 ]
[ -32.080078125, 80.771484375, 80.859375, 84.638671875, 20.91796875, 34.8046875 ]
3.133333
94
0
94
0
[ -35.068359375, 81.123046875, 76.81640625, 89.6484375, 23.818359375, 36.2109375 ]
[ -32.87109375, 80.33203125, 79.453125, 84.990234375, 21.181640625, 34.8046875 ]
3.166667
95
0
95
0
[ -35.5078125, 81.123046875, 76.904296875, 89.6484375, 24.609375, 36.123046875 ]
[ -33.57421875, 80.33203125, 78.662109375, 84.990234375, 21.62109375, 34.8046875 ]
3.2
96
0
96
0
[ -36.298828125, 81.123046875, 77.080078125, 89.736328125, 25.576171875, 35.947265625 ]
[ -34.1015625, 80.5078125, 78.22265625, 85.25390625, 22.236328125, 34.8046875 ]
3.233333
97
0
97
0
[ -37.177734375, 81.123046875, 77.16796875, 89.736328125, 26.103515625, 35.859375 ]
[ -34.8046875, 80.419921875, 78.22265625, 85.25390625, 22.939453125, 34.716796875 ]
3.266667
98
0
98
0
[ -37.705078125, 81.2109375, 77.16796875, 89.736328125, 26.71875, 35.5078125 ]
[ -35.771484375, 80.33203125, 78.310546875, 85.341796875, 23.90625, 34.716796875 ]
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": "v2.0",
    "robot_type": "koch",
    "total_episodes": 21,
    "total_frames": 8086,
    "total_tasks": 1,
    "total_videos": 42,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:21"
    },
    "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": [
                6
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.laptop": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
                480,
                640,
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "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
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Size of downloaded dataset files:
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