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Datasets:
HWJ658970
/
lego_50_camera_change

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
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action
sequence
observation.state
sequence
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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[ -42.890625, 95.09765625, 90.703125, 62.9296875, 154.423828125, 30.234375 ]
2.566667
77
0
77
0
[ -45.17578125, 85.60546875, 80.244140625, 63.544921875, 153.28125, 33.486328125 ]
[ -43.330078125, 91.93359375, 87.71484375, 62.9296875, 153.896484375, 30.234375 ]
2.6
78
0
78
0
[ -46.142578125, 82.705078125, 76.9921875, 64.6875, 153.28125, 33.57421875 ]
[ -43.9453125, 88.330078125, 83.935546875, 62.841796875, 153.45703125, 30.234375 ]
2.633333
79
0
79
0
[ -47.109375, 79.892578125, 73.564453125, 66.181640625, 153.28125, 33.486328125 ]
[ -44.736328125, 84.90234375, 80.419921875, 63.193359375, 153.28125, 30.234375 ]
2.666667
80
0
80
0
[ -47.900390625, 76.81640625, 70.13671875, 67.8515625, 153.28125, 33.57421875 ]
[ -45.966796875, 80.5078125, 75.9375, 64.51171875, 153.10546875, 30.146484375 ]
2.7
81
0
81
0
[ -48.427734375, 72.861328125, 65.56640625, 70.400390625, 153.28125, 33.57421875 ]
[ -46.494140625, 78.046875, 73.828125, 65.56640625, 153.017578125, 30.234375 ]
2.733333
82
0
82
0
[ -48.515625, 70.13671875, 62.05078125, 72.421875, 153.193359375, 33.57421875 ]
[ -47.109375, 75.146484375, 70.48828125, 67.060546875, 153.017578125, 30.234375 ]
2.766667
83
0
83
0
[ -48.69140625, 67.236328125, 58.798828125, 74.8828125, 152.9296875, 33.486328125 ]
[ -47.63671875, 72.0703125, 66.26953125, 68.73046875, 153.017578125, 30.234375 ]
2.8
84
0
84
0
[ -49.130859375, 64.6875, 55.72265625, 77.255859375, 152.666015625, 33.486328125 ]
[ -47.8125, 68.115234375, 60.908203125, 71.54296875, 153.017578125, 30.234375 ]
2.833333
85
0
85
0
[ -50.09765625, 61.611328125, 51.943359375, 80.244140625, 152.314453125, 33.486328125 ]
[ -48.251953125, 66.005859375, 58.447265625, 73.30078125, 152.75390625, 30.146484375 ]
2.866667
86
0
86
0
[ -50.80078125, 59.94140625, 49.74609375, 82.177734375, 152.138671875, 33.486328125 ]
[ -48.8671875, 63.28125, 55.283203125, 75.673828125, 152.490234375, 30.234375 ]
2.9
87
0
87
0
[ -51.328125, 58.447265625, 47.900390625, 84.0234375, 151.962890625, 33.486328125 ]
[ -49.306640625, 60.64453125, 51.943359375, 77.6953125, 152.314453125, 30.146484375 ]
2.933333
88
0
88
0
[ -51.50390625, 57.392578125, 46.58203125, 85.693359375, 151.962890625, 33.486328125 ]
[ -50.09765625, 57.83203125, 49.74609375, 81.123046875, 151.962890625, 30.146484375 ]
2.966667
89
0
89
0
[ -51.6796875, 56.42578125, 46.0546875, 87.626953125, 151.962890625, 33.486328125 ]
[ -50.44921875, 56.77734375, 49.21875, 82.96875, 151.787109375, 30.146484375 ]
3
90
0
90
0
[ -51.943359375, 56.07421875, 46.0546875, 88.76953125, 151.962890625, 33.486328125 ]
[ -50.625, 55.810546875, 48.955078125, 84.287109375, 151.5234375, 30.146484375 ]
3.033333
91
0
91
0
[ -52.294921875, 56.07421875, 46.0546875, 89.560546875, 151.875, 33.486328125 ]
[ -50.80078125, 55.1953125, 48.603515625, 85.869140625, 151.34765625, 30.146484375 ]
3.066667
92
0
92
0
[ -52.734375, 56.07421875, 46.0546875, 90, 151.787109375, 33.486328125 ]
[ -51.15234375, 55.107421875, 48.603515625, 87.01171875, 151.259765625, 30.146484375 ]
3.1
93
0
93
0
[ -53.26171875, 55.986328125, 46.0546875, 90.087890625, 151.875, 33.486328125 ]
[ -51.50390625, 55.107421875, 48.603515625, 88.41796875, 151.259765625, 30.05859375 ]
3.133333
94
0
94
0
[ -53.7890625, 55.986328125, 45.791015625, 89.82421875, 151.875, 33.486328125 ]
[ -51.943359375, 54.755859375, 48.515625, 89.208984375, 151.259765625, 30.146484375 ]
3.166667
95
0
95
0
[ -54.052734375, 55.8984375, 45.615234375, 89.6484375, 151.875, 33.486328125 ]
[ -52.294921875, 54.4921875, 48.076171875, 89.6484375, 151.259765625, 30.146484375 ]
3.2
96
0
96
0
[ -54.404296875, 55.634765625, 45.615234375, 89.560546875, 151.875, 33.3984375 ]
[ -52.91015625, 54.404296875, 47.8125, 89.033203125, 151.259765625, 30.05859375 ]
3.233333
97
0
97
0
[ -54.580078125, 55.107421875, 45.615234375, 89.296875, 151.875, 33.3984375 ]
[ -53.349609375, 54.31640625, 47.8125, 88.9453125, 151.171875, 30.05859375 ]
3.266667
98
0
98
0
[ -54.755859375, 54.404296875, 45.52734375, 88.76953125, 151.875, 33.3984375 ]
[ -53.701171875, 54.228515625, 47.724609375, 89.296875, 151.259765625, 30.05859375 ]
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": 50,
    "total_frames": 13038,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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.front": {
            "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": "h264",
                "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": "h264",
                "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",
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                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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