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Datasets:
HeyuGuo
/
grasp_2_cam

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
tutorial
Libraries:
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License:
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action
sequence
observation.state
sequence
timestamp
float32
0
4.77
frame_index
int64
0
143
episode_index
int64
0
49
index
int64
0
6.45k
task_index
int64
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2.366667
71
0
71
0
[ 1.58203125, 188.701171875, 174.90234375, 64.51171875, 3.69140625, -0.08628127723932266 ]
[ 1.494140625, 189.052734375, 173.759765625, 64.3359375, 3.427734375, 0.08826125413179398 ]
2.4
72
0
72
0
[ 1.58203125, 188.701171875, 174.90234375, 64.51171875, 3.69140625, -0.08628127723932266 ]
[ 1.494140625, 189.052734375, 173.759765625, 64.3359375, 3.427734375, 0.08826125413179398 ]
2.433333
73
0
73
0
[ 1.58203125, 188.701171875, 174.90234375, 64.51171875, 3.69140625, -0.08628127723932266 ]
[ 1.494140625, 189.052734375, 173.759765625, 64.3359375, 3.427734375, 0.08826125413179398 ]
2.466667
74
0
74
0
[ 1.58203125, 188.701171875, 174.90234375, 64.51171875, 3.69140625, -0.08628127723932266 ]
[ 1.494140625, 189.052734375, 173.759765625, 64.3359375, 3.427734375, 0.08826125413179398 ]
2.5
75
0
75
0
[ 1.58203125, 188.701171875, 174.90234375, 64.51171875, 3.69140625, -0.08628127723932266 ]
[ 1.494140625, 189.052734375, 173.759765625, 64.3359375, 3.427734375, 0.08826125413179398 ]
2.533333
76
0
76
0
[ 1.58203125, 188.701171875, 174.90234375, 64.51171875, 3.69140625, -0.08628127723932266 ]
[ 1.494140625, 189.052734375, 173.759765625, 64.3359375, 3.427734375, 0.08826125413179398 ]
2.566667
77
0
77
0
[ 1.58203125, 188.701171875, 174.90234375, 64.51171875, 3.69140625, -0.08628127723932266 ]
[ 1.494140625, 189.052734375, 173.759765625, 64.3359375, 3.427734375, 0.08826125413179398 ]
2.6
78
0
78
0
[ 1.58203125, 188.701171875, 174.90234375, 64.51171875, 3.69140625, -0.08628127723932266 ]
[ 1.494140625, 189.052734375, 173.759765625, 64.3359375, 3.427734375, 0.08826125413179398 ]
2.633333
79
0
79
0
[ 1.58203125, 188.701171875, 174.90234375, 64.51171875, 3.69140625, -0.08628127723932266 ]
[ 1.494140625, 189.052734375, 173.759765625, 64.3359375, 3.427734375, 0.08826125413179398 ]
2.666667
80
0
80
0
[ 1.58203125, 188.701171875, 174.90234375, 64.51171875, 3.69140625, -0.08628127723932266 ]
[ 1.494140625, 189.052734375, 173.759765625, 64.3359375, 3.427734375, 0.08826125413179398 ]
2.7
81
0
81
0
[ 1.58203125, 188.701171875, 174.90234375, 64.51171875, 3.69140625, -0.08628127723932266 ]
[ 1.494140625, 189.052734375, 173.759765625, 64.3359375, 3.427734375, 0.08826125413179398 ]
2.733333
82
0
82
0
[ 1.58203125, 188.701171875, 174.90234375, 64.51171875, 3.69140625, -0.08628127723932266 ]
[ 1.494140625, 189.052734375, 173.759765625, 64.3359375, 3.427734375, 0.08826125413179398 ]
2.766667
83
0
83
0
[ 1.58203125, 188.701171875, 174.90234375, 64.51171875, 3.69140625, -0.08628127723932266 ]
[ 1.494140625, 189.052734375, 173.759765625, 64.3359375, 3.427734375, 0.08826125413179398 ]
2.8
84
0
84
0
[ 1.58203125, 188.701171875, 174.90234375, 64.51171875, 3.69140625, -0.08628127723932266 ]
[ 1.494140625, 189.052734375, 173.759765625, 64.3359375, 3.427734375, 0.08826125413179398 ]
2.833333
85
0
85
0
[ 1.58203125, 188.701171875, 174.90234375, 64.51171875, 3.69140625, -0.08628127723932266 ]
[ 1.494140625, 189.052734375, 173.759765625, 64.3359375, 3.427734375, 0.08826125413179398 ]
2.866667
86
0
86
0
[ 1.58203125, 188.701171875, 174.90234375, 64.51171875, 3.69140625, -0.08628127723932266 ]
[ 1.494140625, 189.052734375, 173.759765625, 64.3359375, 3.427734375, 0.08826125413179398 ]
2.9
87
0
87
0
[ 1.58203125, 188.701171875, 174.90234375, 64.51171875, 3.69140625, -0.08628127723932266 ]
[ 1.494140625, 189.052734375, 173.759765625, 64.3359375, 3.427734375, 0.08826125413179398 ]
2.933333
88
0
88
0
[ 1.58203125, 188.701171875, 174.90234375, 64.51171875, 3.69140625, -0.08628127723932266 ]
[ 1.494140625, 189.052734375, 173.759765625, 64.3359375, 3.427734375, 0.08826125413179398 ]
2.966667
89
0
89
0
[ 1.58203125, 188.701171875, 174.90234375, 64.51171875, 3.69140625, -0.08628127723932266 ]
[ 1.494140625, 189.052734375, 173.759765625, 64.3359375, 3.427734375, 0.08826125413179398 ]
3
90
0
90
0
[ 1.58203125, 188.701171875, 174.90234375, 64.51171875, 3.69140625, -0.08628127723932266 ]
[ 1.494140625, 189.052734375, 173.759765625, 64.3359375, 3.427734375, 0.08826125413179398 ]
3.033333
91
0
91
0
[ 1.58203125, 188.701171875, 174.90234375, 64.51171875, 3.69140625, -0.08628127723932266 ]
[ 1.494140625, 189.052734375, 173.759765625, 64.3359375, 3.427734375, 0.08826125413179398 ]
3.066667
92
0
92
0
[ 1.58203125, 188.701171875, 174.90234375, 64.51171875, 3.69140625, -0.08628127723932266 ]
[ 1.494140625, 189.052734375, 173.759765625, 64.3359375, 3.427734375, 0.08826125413179398 ]
3.1
93
0
93
0
[ 1.669921875, 188.701171875, 174.90234375, 64.51171875, 3.69140625, -0.08628127723932266 ]
[ 1.494140625, 189.052734375, 173.759765625, 64.3359375, 3.427734375, 0.08826125413179398 ]
3.133333
94
0
94
0
[ 1.669921875, 188.701171875, 174.90234375, 64.51171875, 3.69140625, -0.08628127723932266 ]
[ 1.494140625, 189.052734375, 173.759765625, 64.3359375, 3.427734375, 0.08826125413179398 ]
3.166667
95
0
95
0
[ 1.669921875, 188.701171875, 174.90234375, 64.51171875, 3.69140625, -0.08628127723932266 ]
[ 1.494140625, 189.052734375, 173.759765625, 64.3359375, 3.427734375, 0.08826125413179398 ]
3.2
96
0
96
0
[ 1.669921875, 188.701171875, 174.90234375, 64.51171875, 3.69140625, -0.08628127723932266 ]
[ 1.494140625, 189.052734375, 173.759765625, 64.3359375, 3.427734375, 0.08826125413179398 ]
3.233333
97
0
97
0
[ 1.669921875, 188.701171875, 174.90234375, 64.51171875, 3.69140625, -0.08628127723932266 ]
[ 1.494140625, 189.052734375, 173.759765625, 64.3359375, 3.427734375, 0.08826125413179398 ]
3.266667
98
0
98
0
[ -2.8125, 189.4921875, 174.90234375, 70.83984375, -5.361328125, 1.3805004358291626 ]
[ 1.494140625, 189.052734375, 173.759765625, 64.3359375, 3.427734375, 0.08826125413179398 ]
0
0
1
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": "so101",
    "total_episodes": 50,
    "total_frames": 6454,
    "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.arm": {
            "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.front": {
            "dtype": "video",
            "shape": [
                1080,
                1920,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 1080,
                "video.width": 1920,
                "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": {
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            "shape": [
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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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Size of the auto-converted Parquet files:
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Number of rows:
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