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underctrl
/
single-block_multi-color_pick-up_50

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
koch
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
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observation.state
sequence
action
sequence
episode_index
int64
0
49
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int64
0
553
timestamp
float32
0
18.4
next.done
bool
2 classes
index
int64
0
27.2k
task_index
int64
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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": 27178,
    "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": {
        "observation.state": {
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            "names": {
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                    "shoulder_pan",
                    "shoulder_lift",
                    "elbow_flex",
                    "wrist_flex",
                    "wrist_roll",
                    "gripper"
                ]
            }
        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "video_info": {
                "video.fps": 30.0,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
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        "observation.images.webcam": {
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                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "action": {
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            "shape": [
                6
            ],
            "names": {
                "motors": [
                    "shoulder_pan",
                    "shoulder_lift",
                    "elbow_flex",
                    "wrist_flex",
                    "wrist_roll",
                    "gripper"
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            }
        },
        "episode_index": {
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            "shape": [
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            "names": null
        },
        "frame_index": {
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            "shape": [
                1
            ],
            "names": null
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "next.done": {
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            "shape": [
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            ],
            "names": null
        },
        "index": {
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                1
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        "task_index": {
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        }
    }
}

Citation

BibTeX:

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Downloads last month
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License:
apache-2.0
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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