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Datasets:
Toshi-Noguchi
/
teleope1020_task-dual-merged_ver2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
robotics
teleoperation
so101
bimanual
dual-arm
Libraries:
Datasets
pandas
License:
Dataset card Data Studio Files
xet
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listlengths
12
12
observation.state
listlengths
12
12
timestamp
float32
0
110
frame_index
int64
0
3.31k
episode_index
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index
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9.54k
task_index
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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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80
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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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85
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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
90
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3.033333
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3.066667
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3.1
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3.133333
94
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94
0
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[ -9.23460865020752, -97.68785858154297, 95.4385986328125, 65.32125091552734, 4.749679088592529, 3.774752378463745, -6.7304158210754395, -88.97242736816406, 96.5532455444336, 49.29225540161133, -1.0272213220596313, 18.395061492919922 ]
3.166667
95
0
95
0
[ -9.824047088623047, -98.17654418945312, 94.92430877685547, 65.44458770751953, 4.42159366607666, 3.078024387359619, -6.501095771789551, -89.6351547241211, 96.39964294433594, 48.341033935546875, -1.1985409259796143, 18.348623275756836 ]
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3.2
96
0
96
0
[ -9.824047088623047, -98.17654418945312, 94.92430877685547, 65.44458770751953, 4.42159366607666, 3.078024387359619, -6.501095771789551, -89.6351547241211, 96.39964294433594, 48.341033935546875, -1.1985409259796143, 18.348623275756836 ]
[ -9.23460865020752, -97.68785858154297, 95.4385986328125, 65.32125091552734, 4.749679088592529, 3.774752378463745, -6.7304158210754395, -88.97242736816406, 96.5532455444336, 49.29225540161133, -1.0272213220596313, 18.395061492919922 ]
3.233333
97
0
97
0
[ -9.824047088623047, -98.17654418945312, 94.92430877685547, 65.44458770751953, 4.42159366607666, 3.078024387359619, -6.501095771789551, -89.6351547241211, 96.39964294433594, 48.341033935546875, -1.1985409259796143, 18.348623275756836 ]
[ -9.23460865020752, -97.68785858154297, 95.4385986328125, 65.32125091552734, 4.749679088592529, 3.774752378463745, -6.7304158210754395, -88.97242736816406, 96.5532455444336, 49.29225540161133, -1.0272213220596313, 18.395061492919922 ]
3.266667
98
0
98
0
[ -9.824047088623047, -98.17654418945312, 94.92430877685547, 65.44458770751953, 4.42159366607666, 3.078024387359619, -6.501095771789551, -89.6351547241211, 96.39964294433594, 48.341033935546875, -1.1985409259796143, 18.348623275756836 ]
[ -9.23460865020752, -97.68785858154297, 95.4385986328125, 65.32125091552734, 4.749679088592529, 3.774752378463745, -6.7304158210754395, -88.97242736816406, 96.5532455444336, 49.29225540161133, -1.0272213220596313, 18.395061492919922 ]
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_so101_follower",
    "total_episodes": 4,
    "total_frames": 9541,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:4"
    },
    "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.left": {
            "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.right": {
            "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.bird": {
            "dtype": "video",
            "shape": [
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                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": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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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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