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Datasets:
yoshikokulala
/
cocoa_move

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
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Size:
1K - 10K
Tags:
LeRobot
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observation.state
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float32
0
11.5
frame_index
int64
0
345
episode_index
int64
0
9
index
int64
0
3.45k
task_index
int64
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2.133333
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2.333333
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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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2.8
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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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3.133333
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94
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[ -8.963996887207031, -99.74906158447266, 93.41749572753906, 75.06584930419922, -3.443223476409912, 1.5055468082427979, -16.828720092773438, 14.769360542297363, 23.27898597717285, 23.156982421875, 44.17582321166992, 49.37965393066406 ]
[ -8.802947044372559, -99.31885528564453, 95.39503479003906, 73.68649291992188, -3.5897436141967773, 1.2162162065505981, -16.164382934570312, 13.285533905029297, 29.359031677246094, 24.42912483215332, 43.44322204589844, 49.120521545410156 ]
3.166667
95
0
95
0
[ -8.963996887207031, -99.74906158447266, 93.41749572753906, 75.06584930419922, -3.443223476409912, 1.5055468082427979, -16.978309631347656, 15.277190208435059, 23.27898597717285, 23.156982421875, 44.17582321166992, 49.37965393066406 ]
[ -8.802947044372559, -99.31885528564453, 95.39503479003906, 73.68649291992188, -3.5897436141967773, 1.2162162065505981, -16.164382934570312, 14.129059791564941, 29.0900936126709, 24.42912483215332, 43.44322204589844, 49.120521545410156 ]
3.2
96
0
96
0
[ -8.963996887207031, -99.74906158447266, 93.41749572753906, 75.06584930419922, -3.443223476409912, 1.5055468082427979, -17.053104400634766, 15.785018920898438, 23.27898597717285, 23.156982421875, 44.17582321166992, 49.37965393066406 ]
[ -8.802947044372559, -99.31885528564453, 95.39503479003906, 73.68649291992188, -3.5897436141967773, 1.2162162065505981, -16.164382934570312, 14.719527244567871, 28.821155548095703, 24.42912483215332, 43.44322204589844, 49.120521545410156 ]
3.233333
97
0
97
0
[ -8.963996887207031, -99.74906158447266, 93.41749572753906, 75.06584930419922, -3.443223476409912, 1.5055468082427979, -17.127899169921875, 16.377487182617188, 23.27898597717285, 23.156982421875, 44.17582321166992, 49.37965393066406 ]
[ -8.802947044372559, -99.31885528564453, 95.39503479003906, 73.68649291992188, -3.5897436141967773, 1.2162162065505981, -16.086105346679688, 15.39434814453125, 28.641864776611328, 24.42912483215332, 43.44322204589844, 49.120521545410156 ]
3.266667
98
0
98
0
[ -8.963996887207031, -99.74906158447266, 93.41749572753906, 75.06584930419922, -3.443223476409912, 1.5055468082427979, -17.127899169921875, 16.88531494140625, 23.27898597717285, 23.156982421875, 44.17582321166992, 49.37965393066406 ]
[ -8.802947044372559, -99.31885528564453, 95.39503479003906, 73.68649291992188, -3.5897436141967773, 1.2162162065505981, -16.086105346679688, 15.81611156463623, 28.55221939086914, 24.42912483215332, 43.589744567871094, 49.120521545410156 ]
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_so100_follower",
    "total_episodes": 10,
    "total_frames": 3454,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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"
            ],
            "shape": [
                12
            ]
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
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                640,
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            ],
            "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.top": {
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            "shape": [
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                640,
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            "names": [
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                "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
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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