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pick_lego_to_hand

Tasks:
Robotics
Modalities:
Tabular
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Size:
10K - 100K
Tags:
LeRobot
tutorial
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action
sequence
observation.state
sequence
timestamp
float32
0
16.6
frame_index
int64
0
499
episode_index
int64
0
49
index
int64
0
21.3k
task_index
int64
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[ 2.197265625, 125.244140625, 168.3984375, -10.986328125, 4.658203125, 33.486328125 ]
[ -0.087890625, 128.49609375, 173.056640625, -9.66796875, 4.39453125, 32.87109375 ]
2.466667
74
0
74
0
[ 4.04296875, 122.431640625, 164.267578125, -6.50390625, 4.5703125, 33.662109375 ]
[ 0.615234375, 127.265625, 172.08984375, -9.755859375, 4.21875, 32.87109375 ]
2.5
75
0
75
0
[ 5.2734375, 121.552734375, 159.873046875, 1.23046875, 4.658203125, 34.013671875 ]
[ 2.548828125, 124.365234375, 169.013671875, -8.173828125, 4.04296875, 32.87109375 ]
2.533333
76
0
76
0
[ 6.064453125, 120.673828125, 155.56640625, 8.0859375, 4.658203125, 34.013671875 ]
[ 4.21875, 121.81640625, 164.091796875, -4.04296875, 4.04296875, 33.134765625 ]
2.566667
77
0
77
0
[ 6.328125, 119.794921875, 152.9296875, 12.65625, 4.658203125, 34.27734375 ]
[ 4.921875, 121.11328125, 159.9609375, 0.17578125, 4.04296875, 33.134765625 ]
2.6
78
0
78
0
[ 7.119140625, 119.35546875, 150.46875, 15.908203125, 4.658203125, 34.365234375 ]
[ 5.625, 119.970703125, 155.7421875, 5.185546875, 4.04296875, 33.134765625 ]
2.633333
79
0
79
0
[ 8.26171875, 119.35546875, 148.095703125, 19.16015625, 4.921875, 34.365234375 ]
[ 6.15234375, 119.00390625, 152.578125, 9.4921875, 4.04296875, 33.134765625 ]
2.666667
80
0
80
0
[ 8.876953125, 119.00390625, 145.810546875, 21.62109375, 5.2734375, 34.365234375 ]
[ 7.119140625, 119.00390625, 150.908203125, 13.447265625, 4.04296875, 33.134765625 ]
2.7
81
0
81
0
[ 9.66796875, 119.091796875, 143.7890625, 24.521484375, 5.44921875, 34.365234375 ]
[ 7.822265625, 118.828125, 149.501953125, 17.490234375, 4.21875, 33.134765625 ]
2.733333
82
0
82
0
[ 10.546875, 119.091796875, 141.767578125, 27.24609375, 5.44921875, 34.27734375 ]
[ 8.26171875, 118.65234375, 148.0078125, 20.654296875, 4.39453125, 33.134765625 ]
2.766667
83
0
83
0
[ 11.162109375, 119.091796875, 139.21875, 31.81640625, 5.44921875, 34.453125 ]
[ 8.96484375, 118.65234375, 146.07421875, 23.90625, 4.482421875, 33.134765625 ]
2.8
84
0
84
0
[ 11.77734375, 119.091796875, 136.93359375, 35.5078125, 5.44921875, 34.62890625 ]
[ 10.107421875, 118.65234375, 143.4375, 27.509765625, 4.658203125, 33.134765625 ]
2.833333
85
0
85
0
[ 11.953125, 119.00390625, 133.59375, 40.693359375, 5.44921875, 34.62890625 ]
[ 10.72265625, 118.65234375, 140.09765625, 31.640625, 4.833984375, 33.134765625 ]
2.866667
86
0
86
0
[ 12.48046875, 119.091796875, 130.517578125, 45, 5.537109375, 34.541015625 ]
[ 10.8984375, 118.65234375, 137.021484375, 35.68359375, 4.833984375, 33.134765625 ]
2.9
87
0
87
0
[ 12.744140625, 119.091796875, 127.880859375, 48.8671875, 5.537109375, 34.541015625 ]
[ 11.42578125, 118.65234375, 134.6484375, 39.111328125, 4.833984375, 33.134765625 ]
2.933333
88
0
88
0
[ 13.271484375, 119.35546875, 125.68359375, 51.50390625, 5.625, 34.453125 ]
[ 11.77734375, 118.65234375, 131.484375, 43.857421875, 4.833984375, 33.134765625 ]
2.966667
89
0
89
0
[ 13.798828125, 119.70703125, 124.541015625, 52.294921875, 5.80078125, 34.27734375 ]
[ 12.392578125, 118.65234375, 128.583984375, 48.1640625, 4.833984375, 33.134765625 ]
3
90
0
90
0
[ 14.765625, 120.673828125, 124.013671875, 52.294921875, 6.064453125, 34.1015625 ]
[ 12.744140625, 118.65234375, 127.177734375, 50.9765625, 4.833984375, 33.134765625 ]
3.033333
91
0
91
0
[ 14.94140625, 121.9921875, 124.013671875, 51.591796875, 7.03125, 34.1015625 ]
[ 13.18359375, 118.740234375, 127.08984375, 51.943359375, 4.921875, 33.134765625 ]
3.066667
92
0
92
0
[ 14.94140625, 122.783203125, 123.92578125, 50.625, 8.96484375, 34.013671875 ]
[ 13.53515625, 119.091796875, 127.265625, 52.294921875, 5.44921875, 33.134765625 ]
3.1
93
0
93
0
[ 14.150390625, 124.716796875, 124.541015625, 48.8671875, 9.66796875, 33.57421875 ]
[ 13.7109375, 120.05859375, 127.177734375, 52.20703125, 6.240234375, 33.134765625 ]
3.133333
94
0
94
0
[ 11.513671875, 126.5625, 125.419921875, 48.33984375, 10.1953125, 32.431640625 ]
[ 13.88671875, 121.640625, 127.177734375, 51.6796875, 7.3828125, 33.046875 ]
3.166667
95
0
95
0
[ 9.31640625, 128.232421875, 127.08984375, 48.603515625, 12.392578125, 32.431640625 ]
[ 13.18359375, 122.958984375, 127.177734375, 51.15234375, 8.173828125, 32.958984375 ]
3.2
96
0
96
0
[ 8.701171875, 129.638671875, 129.111328125, 47.4609375, 14.58984375, 32.87109375 ]
[ 11.25, 124.8046875, 127.705078125, 50.80078125, 9.228515625, 32.6953125 ]
3.233333
97
0
97
0
[ 9.052734375, 129.55078125, 128.84765625, 47.28515625, 14.150390625, 32.87109375 ]
[ 9.580078125, 126.826171875, 129.19921875, 50.2734375, 10.72265625, 32.6953125 ]
3.266667
98
0
98
0
[ 9.84375, 129.19921875, 127.96875, 47.548828125, 12.919921875, 32.783203125 ]
[ 8.701171875, 127.880859375, 130.341796875, 49.921875, 12.3046875, 32.607421875 ]
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": 21254,
    "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.laptop": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "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
            }
        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "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
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "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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Number of rows:
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