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Datasets:
Johbsn
/
Thrif2-9

Tasks:
Robotics
Modalities:
Tabular
Time-series
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Formats:
parquet
Size:
< 1K
Tags:
LeRobot
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pandas
Polars
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observation.state
list
timestamp
float32
0
32.9
frame_index
int64
0
987
episode_index
int64
0
0
index
int64
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987
task_index
int64
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1.5
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1.533333
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1.566667
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1.6
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1.633333
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1.666667
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1.7
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1.733333
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1.766667
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1.8
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1.833333
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1.866667
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1.9
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1.933333
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1.966667
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2
60
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2.033333
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2.066667
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2.1
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2.133333
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2.166667
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2.2
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2.233333
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2.266667
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2.3
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2.333333
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2.366667
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2.4
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2.433333
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2.466667
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2.5
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2.533333
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2.566667
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2.6
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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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2.766667
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2.8
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2.833333
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2.866667
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2.9
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2.933333
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2.966667
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3
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[ -0.17223620414733887, -0.004005493130534887, -0.001716639962978661, 0.0009536888683214784, -0.03147173300385475, -0.09822995215654373, 0.029422318562865257 ]
3.033333
91
0
91
0
[ -0.08436894416809082, -0.004601942375302315, -0.003067961661145091, 0.015339807607233524, -0.06596117466688156, -0.13038836419582367, 0.031147541478276253 ]
[ -0.1676585078239441, -0.004005493130534887, -0.0020981156267225742, 0.0013351644156500697, -0.035667963325977325, -0.09822995215654373, 0.029503481462597847 ]
3.066667
92
0
92
0
[ -0.041417479515075684, -0.004601942375302315, 0.004601942375302315, 0.015339807607233524, -0.06749515235424042, -0.15186409652233124, 0.031147541478276253 ]
[ -0.164988175034523, -0.004005493130534887, -0.0020981156267225742, 0.0013351644156500697, -0.038719769567251205, -0.09975585341453552, 0.030233969911932945 ]
3.1
93
0
93
0
[ -0.00920388475060463, -0.004601942375302315, 0.026077672839164734, 0.0015339808305725455, -0.09050486981868744, -0.19634954631328583, 0.031147541478276253 ]
[ -0.152399480342865, -0.004005493130534887, -0.0024795911740511656, 0.001716639962978661, -0.043678950518369675, -0.1028076633810997, 0.031045615673065186 ]
3.133333
94
0
94
0
[ 0.029145635664463043, 0.0015339808305725455, 0.06289321184158325, -0.03067961521446705, -0.09050486981868744, -0.23009711503982544, 0.031147541478276253 ]
[ -0.1367589831352234, -0.004005493130534887, -0.002861066721379757, 0.002861066721379757, -0.048256658017635345, -0.11272602528333664, 0.031045615673065186 ]
3.166667
95
0
95
0
[ 0.06749515235424042, 0.01840776950120926, 0.09817477315664291, -0.058291271328926086, -0.09050486981868744, -0.25310683250427246, 0.031147541478276253 ]
[ -0.11577782779932022, -0.004005493130534887, 0.0009536888683214784, 0.004005493130534887, -0.054741740226745605, -0.12493324279785156, 0.030964452773332596 ]
3.2
96
0
96
0
[ 0.09664078801870346, 0.04601942375302315, 0.12885437905788422, -0.06596117466688156, -0.09050486981868744, -0.2684466242790222, 0.031147541478276253 ]
[ -0.09479667246341705, -0.004005493130534887, 0.008964675478637218, 0.004005493130534887, -0.061226826161146164, -0.14171816408634186, 0.031045615673065186 ]
3.233333
97
0
97
0
[ 0.12425244599580765, 0.0782330185174942, 0.1564660370349884, -0.06596117466688156, -0.08436894416809082, -0.2822524607181549, 0.031147541478276253 ]
[ -0.06847485899925232, -0.0013351644156500697, 0.021553369238972664, 0.00019073777366429567, -0.06542305648326874, -0.16117341816425323, 0.031045615673065186 ]
3.266667
98
0
98
0
[ 0.15186409652233124, 0.11811652034521103, 0.18867963552474976, -0.06596117466688156, -0.0782330185174942, -0.30066022276878357, 0.031147541478276253 ]
[ -0.04406042397022247, 0.00476844422519207, 0.035667963325977325, -0.014686808921396732, -0.0707637146115303, -0.17795833945274353, 0.031045615673065186 ]
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": "dk1_follower",
    "total_episodes": 1,
    "total_frames": 988,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "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": [
                "joint_1.pos",
                "joint_2.pos",
                "joint_3.pos",
                "joint_4.pos",
                "joint_5.pos",
                "joint_6.pos",
                "gripper.pos"
            ],
            "shape": [
                7
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "joint_1.pos",
                "joint_2.pos",
                "joint_3.pos",
                "joint_4.pos",
                "joint_5.pos",
                "joint_6.pos",
                "gripper.pos"
            ],
            "shape": [
                7
            ]
        },
        "observation.images.head": {
            "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.wrist": {
            "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
            }
        },
        "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": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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