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Datasets:
AcuBrain
/
towel_folding_merged_100episodes

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
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parquet
Size:
100K - 1M
Tags:
LeRobot
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listlengths
12
12
observation.state
listlengths
12
12
timestamp
float32
0
220
frame_index
int64
0
6.6k
episode_index
int64
0
99
index
int64
0
219k
task_index
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2.133333
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2.166667
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2.233333
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2.433333
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2.533333
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2.633333
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2.666667
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2.7
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2.733333
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2.8
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2.833333
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2.9
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3
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3.1
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3.166667
95
0
95
0
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3.2
96
0
96
0
[ -8.99854850769043, -98.78345489501953, 98.47259521484375, 78.0667495727539, 1.6849817037582397, 0.7272727489471436, -4.107597351074219, -96.5819091796875, 97.93629455566406, 62.17372512817383, 4.761904716491699, 0 ]
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3.233333
97
0
97
0
[ -8.99854850769043, -98.78345489501953, 98.47259521484375, 77.98006439208984, 1.6849817037582397, 0.7272727489471436, -3.235187292098999, -96.5819091796875, 98.20547485351562, 62.002567291259766, 7.594627380371094, 0 ]
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3.266667
98
0
98
0
[ -8.99854850769043, -98.78345489501953, 98.47259521484375, 77.63329315185547, 1.6849817037582397, 0.800000011920929, -2.9443838596343994, -96.5819091796875, 98.38492584228516, 61.48908996582031, 9.01098918914795, 0 ]
[ -9.382716178894043, -96.92945861816406, 97.22843170166016, 77.85151672363281, 1.4407814741134644, 1.617110013961792, -6.5837602615356445, -95.93192291259766, 97.67024993896484, 64.19805145263672, -0.02442002482712269, 0.5555555820465088 ]
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": "v3.0",
    "robot_type": "bi_so_follower",
    "total_episodes": 100,
    "total_frames": 219216,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:100"
    },
    "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",
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "left_shoulder_pan.pos",
                "left_shoulder_lift.pos",
                "left_elbow_flex.pos",
                "left_wrist_flex.pos",
                "left_wrist_roll.pos",
                "left_gripper.pos",
                "right_shoulder_pan.pos",
                "right_shoulder_lift.pos",
                "right_elbow_flex.pos",
                "right_wrist_flex.pos",
                "right_wrist_roll.pos",
                "right_gripper.pos"
            ],
            "shape": [
                12
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "left_shoulder_pan.pos",
                "left_shoulder_lift.pos",
                "left_elbow_flex.pos",
                "left_wrist_flex.pos",
                "left_wrist_roll.pos",
                "left_gripper.pos",
                "right_shoulder_pan.pos",
                "right_shoulder_lift.pos",
                "right_elbow_flex.pos",
                "right_wrist_flex.pos",
                "right_wrist_roll.pos",
                "right_gripper.pos"
            ],
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        },
        "observation.images.top": {
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            "shape": [
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            "names": [
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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_0": {
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            "shape": [
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            ],
            "names": [
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            "info": {
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                "video.is_depth_map": false,
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        "observation.images.wrist_1": {
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            "info": {
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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        "index": {
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        },
        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Models trained or fine-tuned on AcuBrain/towel_folding_merged_100episodes