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Datasets:
abhifoo
/
new_embodiment

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
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Dask
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observation.state
list
timestamp
float32
0
25
frame_index
int64
0
749
episode_index
int64
0
29
index
int64
0
22.4k
task_index
int64
0
0
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[ -2.183406114578247, -99.070556640625, 99.6366958618164, 39.19413757324219, -1.0989011526107788, 17.8145694732666, 0.09963497519493103, -0.0012783173006027937, 1.171875 ]
3.066667
92
0
92
0
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3.1
93
0
93
0
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3.133333
94
0
94
0
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3.166667
95
0
95
0
[ -3.0235161781311035, -97.90531921386719, 99.36851501464844, 46.31396484375, -0.7570207715034485, 18.725719451904297, 0.10000000149011612, 0, 0 ]
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3.2
96
0
96
0
[ -3.0235161781311035, -97.90531921386719, 99.36851501464844, 46.22723388671875, -0.7570207715034485, 18.725719451904297, 0.10000000149011612, 0, 0 ]
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3.233333
97
0
97
0
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3.266667
98
0
98
0
[ -3.0235161781311035, -97.90531921386719, 99.36851501464844, 45.35993194580078, -0.7081807255744934, 18.80341911315918, 0.10000000149011612, 0, 0 ]
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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": "v2.1",
    "robot_type": "lekiwi_client",
    "total_episodes": 1,
    "total_frames": 750,
    "total_tasks": 1,
    "total_videos": 2,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "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": [
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            "names": [
                "arm_shoulder_pan.pos",
                "arm_shoulder_lift.pos",
                "arm_elbow_flex.pos",
                "arm_wrist_flex.pos",
                "arm_wrist_roll.pos",
                "arm_gripper.pos",
                "x.vel",
                "y.vel",
                "theta.vel"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                9
            ],
            "names": [
                "arm_shoulder_pan.pos",
                "arm_shoulder_lift.pos",
                "arm_elbow_flex.pos",
                "arm_wrist_flex.pos",
                "arm_wrist_roll.pos",
                "arm_gripper.pos",
                "x.vel",
                "y.vel",
                "theta.vel"
            ]
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
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                640,
                3
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            "names": [
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                "channels"
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            "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
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        },
        "observation.images.wrist": {
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            "shape": [
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                480,
                3
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            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 640,
                "video.width": 480,
                "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
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            "names": null
        },
        "frame_index": {
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                1
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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Downloads last month
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License:
apache-2.0
Size of downloaded dataset files:
1.14 MB
Size of the auto-converted Parquet files:
1.14 MB
Number of rows:
22,360

Models trained or fine-tuned on abhifoo/new_embodiment