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Datasets:
romalab-cbf
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background_light_test_sq

Tasks:
Robotics
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Size:
10K - 100K
Tags:
LeRobot
piper
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float32
0
25
frame_index
int64
0
499
episode_index
int64
0
59
index
int64
0
30k
task_index
int64
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2
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2.2
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2.25
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2.3
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2.35
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2.4
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2.45
49
0
49
0
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2.5
50
0
50
0
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2.55
51
0
51
0
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2.6
52
0
52
0
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2.65
53
0
53
0
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2.7
54
0
54
0
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2.75
55
0
55
0
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2.8
56
0
56
0
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2.85
57
0
57
0
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2.9
58
0
58
0
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2.95
59
0
59
0
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3
60
0
60
0
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3.05
61
0
61
0
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3.1
62
0
62
0
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3.15
63
0
63
0
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3.2
64
0
64
0
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3.25
65
0
65
0
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3.3
66
0
66
0
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3.35
67
0
67
0
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3.4
68
0
68
0
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3.45
69
0
69
0
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3.5
70
0
70
0
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3.55
71
0
71
0
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3.6
72
0
72
0
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3.65
73
0
73
0
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3.7
74
0
74
0
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3.75
75
0
75
0
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3.8
76
0
76
0
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3.85
77
0
77
0
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3.9
78
0
78
0
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3.95
79
0
79
0
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4
80
0
80
0
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4.05
81
0
81
0
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4.1
82
0
82
0
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4.15
83
0
83
0
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4.2
84
0
84
0
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4.25
85
0
85
0
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4.3
86
0
86
0
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4.35
87
0
87
0
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4.4
88
0
88
0
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4.45
89
0
89
0
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4.5
90
0
90
0
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4.55
91
0
91
0
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4.6
92
0
92
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4.65
93
0
93
0
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4.7
94
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94
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4.75
95
0
95
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4.8
96
0
96
0
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[ -0.033108897507190704, 2.0260305404663086, -1.4847691059112549, -0.06923720985651016, 0.9789551496505737, -0.11355111747980118, 0.06019999831914902 ]
4.85
97
0
97
0
[ -0.03164282068610191, 2.0515472888946533, -1.5246672630310059, -0.04988151043653488, 1.0057809352874756, -0.11379546672105789, 0.08500000089406967 ]
[ -0.033108897507190704, 2.039085626602173, -1.507877230644226, -0.05726425349712372, 0.9956405162811279, -0.11355111747980118, 0.06019999831914902 ]
4.9
98
0
98
0
[ -0.03164282068610191, 2.0585808753967285, -1.5328878164291382, -0.04783947393298149, 1.0137745141983032, -0.11379546672105789, 0.08500000089406967 ]
[ -0.033108897507190704, 2.0485453605651855, -1.519518494606018, -0.051225412636995316, 0.9997944235801697, -0.11355111747980118, 0.06019999831914902 ]
4.95
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "fps": 20,
    "features": {
        "action": {
            "dtype": "float32",
            "shape": [
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            ],
            "names": [
                "joint_1.pos",
                "joint_2.pos",
                "joint_3.pos",
                "joint_4.pos",
                "joint_5.pos",
                "joint_6.pos",
                "gripper.pos"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "joint_1.pos",
                "joint_2.pos",
                "joint_3.pos",
                "joint_4.pos",
                "joint_5.pos",
                "joint_6.pos",
                "gripper.pos"
            ]
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "is_depth_map": false,
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": 12,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {}
            }
        },
        "observation.images.third_person": {
            "dtype": "video",
            "shape": [
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                640,
                3
            ],
            "names": [
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                "width",
                "channels"
            ],
            "info": {
                "is_depth_map": false,
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.fps": 20,
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                "has_audio": false,
                "video.g": 2,
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                "video.preset": 12,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {}
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        },
        "timestamp": {
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        "frame_index": {
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        },
        "episode_index": {
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        "index": {
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        },
        "task_index": {
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        }
    },
    "total_episodes": 60,
    "total_frames": 30000,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "robot_type": "piper_bridge",
    "splits": {
        "train": "0:60"
    }
}

Citation

BibTeX:

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