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Datasets:
BobShan
/
pick_bear

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
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action
list
observation.state
list
timestamp
float32
0
31.4
frame_index
int64
0
314
episode_index
int64
0
51
index
int64
0
10.9k
task_index
int64
0
0
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0.1
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1
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1.2
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1.6
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1.9
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2.2
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2.3
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2.4
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24
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3.1
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3.8
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3.9
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4
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4.1
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4.2
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4.3
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4.4
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4.5
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4.6
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4.7
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4.8
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4.9
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5
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5.1
51
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5.2
52
0
52
0
[ 20.830078125, -71.982421875, 68.994140625, -90.087890625, -87.802734375, 56.513671875, 199.423828125 ]
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5.3
53
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53
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5.4
54
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54
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5.5
55
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55
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5.6
56
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[ 21.5, -70.31999969482422, 69.06999969482422, -91.5, -87.76000213623047, 45.86000061035156, 0.20999999344348907 ]
5.7
57
0
57
0
[ 22.32421875, -68.73046875, 69.521484375, -92.373046875, -87.802734375, 38.408203125, 199.423828125 ]
[ 21.8700008392334, -69.79000091552734, 69.30999755859375, -92.08999633789062, -87.80000305175781, 42.75, 0.20999999344348907 ]
5.8
58
0
58
0
[ 22.763671875, -68.203125, 69.609375, -92.373046875, -87.802734375, 35.595703125, 199.423828125 ]
[ 22.190000534057617, -69.13999938964844, 69.47000122070312, -92.31999969482422, -87.80000305175781, 39.97999954223633, 0.20999999344348907 ]
5.9
59
0
59
0
[ 23.5546875, -67.939453125, 69.521484375, -92.373046875, -87.802734375, 33.22265625, 199.423828125 ]
[ 22.540000915527344, -68.47000122070312, 69.56999969482422, -92.37000274658203, -87.80000305175781, 37.029998779296875, 0.20999999344348907 ]
6
60
0
60
0
[ 24.169921875, -67.8515625, 69.609375, -92.373046875, -87.802734375, 31.552734375, 199.423828125 ]
[ 23.149999618530273, -68.06999969482422, 69.58000183105469, -92.37000274658203, -87.80000305175781, 34.43000030517578, 0.20999999344348907 ]
6.1
61
0
61
0
[ 24.78515625, -67.5, 69.521484375, -92.28515625, -87.802734375, 30.234375, 199.423828125 ]
[ 23.90999984741211, -67.88999938964844, 69.58000183105469, -92.37000274658203, -87.80999755859375, 32.2400016784668, 0.20999999344348907 ]
6.2
62
0
62
0
[ 25.3125, -66.97265625, 69.521484375, -92.28515625, -87.71484375, 28.564453125, 199.423828125 ]
[ 24.540000915527344, -67.63999938964844, 69.56999969482422, -92.31999969482422, -87.80000305175781, 30.760000228881836, 0.20999999344348907 ]
6.3
63
0
63
0
[ 25.83984375, -66.708984375, 69.697265625, -92.373046875, -87.626953125, 27.24609375, 199.423828125 ]
[ 25.06999969482422, -67.19999694824219, 69.52999877929688, -92.27999877929688, -87.76000213623047, 29.299999237060547, 0.20999999344348907 ]
6.4
64
0
64
0
[ 26.015625, -65.654296875, 69.345703125, -92.373046875, -87.5390625, 24.697265625, 199.423828125 ]
[ 25.559999465942383, -66.86000061035156, 69.5999984741211, -92.31999969482422, -87.68000030517578, 27.93000030517578, 0.20999999344348907 ]
6.5
65
0
65
0
[ 26.3671875, -65.390625, 69.2578125, -92.63671875, -87.626953125, 23.5546875, 199.423828125 ]
[ 25.920000076293945, -66.18000030517578, 69.5199966430664, -92.37000274658203, -87.58000183105469, 25.940000534057617, 0.20999999344348907 ]
6.6
66
0
66
0
[ 26.71875, -65.0390625, 69.08203125, -92.724609375, -87.71484375, 21.357421875, 199.423828125 ]
[ 26.229999542236328, -65.5, 69.29000091552734, -92.54000091552734, -87.58999633789062, 24, 0.20999999344348907 ]
6.7
67
0
67
0
[ 26.982421875, -64.6875, 69.08203125, -93.076171875, -87.71484375, 18.984375, 199.423828125 ]
[ 26.559999465942383, -65.19000244140625, 69.16999816894531, -92.66999816894531, -87.66999816894531, 22.31999969482422, 0.20999999344348907 ]
6.8
68
0
68
0
[ 27.421875, -64.6875, 69.08203125, -93.1640625, -87.71484375, 16.875, 199.423828125 ]
[ 26.860000610351562, -64.83999633789062, 69.0999984741211, -92.91999816894531, -87.72000122070312, 19.989999771118164, 0.20999999344348907 ]
6.9
69
0
69
0
[ 28.30078125, -63.984375, 69.169921875, -94.5703125, -87.626953125, 13.974609375, 199.423828125 ]
[ 27.219999313354492, -64.69000244140625, 69.08999633789062, -93.12999725341797, -87.72000122070312, 17.84000015258789, 0.20999999344348907 ]
7
70
0
70
0
[ 28.916015625, -63.720703125, 69.43359375, -95.2734375, -87.626953125, 12.392578125, 199.423828125 ]
[ 27.979999542236328, -64.2300033569336, 69.12999725341797, -94.05999755859375, -87.66999816894531, 15.020000457763672, 0.20999999344348907 ]
7.1
71
0
71
0
[ 29.619140625, -63.544921875, 69.609375, -95.537109375, -87.451171875, 11.513671875, 199.423828125 ]
[ 28.649999618530273, -63.83000183105469, 69.30999755859375, -94.97000122070312, -87.62999725341797, 13.069999694824219, 0.20999999344348907 ]
7.2
72
0
72
0
[ 29.794921875, -63.017578125, 69.697265625, -95.537109375, -87.5390625, 9.931640625, 199.423828125 ]
[ 29.329999923706055, -63.619998931884766, 69.54000091552734, -95.43000030517578, -87.5199966430664, 11.890000343322754, 0.20999999344348907 ]
7.3
73
0
73
0
[ 30.322265625, -62.841796875, 70.400390625, -95.537109375, -87.5390625, 8.61328125, 199.423828125 ]
[ 29.700000762939453, -63.27000045776367, 69.66000366210938, -95.5199966430664, -87.48999786376953, 10.680000305175781, 0.20999999344348907 ]
7.4
74
0
74
0
[ 30.673828125, -62.666015625, 71.54296875, -95.625, -87.275390625, 6.6796875, 199.423828125 ]
[ 30.06999969482422, -62.93000030517578, 70.06999969482422, -95.52999877929688, -87.52999877929688, 9.239999771118164, 0.20999999344348907 ]
7.5
75
0
75
0
[ 30.76171875, -62.578125, 71.982421875, -95.625, -86.923828125, 5.185546875, 199.423828125 ]
[ 30.510000228881836, -62.75, 71.05000305175781, -95.58000183105469, -87.4000015258789, 7.510000228881836, 0.20999999344348907 ]
7.6
76
0
76
0
[ 30.849609375, -61.962890625, 72.333984375, -95.9765625, -86.8359375, 3.955078125, 199.423828125 ]
[ 30.709999084472656, -62.630001068115234, 71.77999877929688, -95.62000274658203, -87.08999633789062, 5.869999885559082, 0.20999999344348907 ]
7.7
77
0
77
0
[ 30.9375, -61.5234375, 72.333984375, -96.240234375, -86.8359375, 2.98828125, 199.423828125 ]
[ 30.809999465942383, -62.18000030517578, 72.19999694824219, -95.8499984741211, -86.87000274658203, 4.420000076293945, 0.20999999344348907 ]
7.8
78
0
78
0
[ 30.9375, -61.259765625, 72.333984375, -96.50390625, -86.8359375, 2.548828125, 199.423828125 ]
[ 30.899999618530273, -61.709999084472656, 72.33000183105469, -96.13999938964844, -86.83999633789062, 3.390000104904175, 0.20999999344348907 ]
7.9
79
0
79
0
[ 30.9375, -60.8203125, 72.685546875, -97.20703125, -86.923828125, 2.4609375, 199.423828125 ]
[ 30.93000030517578, -61.380001068115234, 72.33999633789062, -96.37999725341797, -86.83999633789062, 2.740000009536743, 0.20999999344348907 ]
8
80
0
80
0
[ 30.9375, -60.46875, 72.861328125, -98.0859375, -86.923828125, 2.109375, 199.423828125 ]
[ 30.940000534057617, -61.029998779296875, 72.52999877929688, -96.88999938964844, -86.87999725341797, 2.509999990463257, 0.20999999344348907 ]
8.1
81
0
81
0
[ 30.9375, -60.205078125, 73.212890625, -99.228515625, -87.01171875, 2.021484375, 199.423828125 ]
[ 30.940000534057617, -60.619998931884766, 72.77999877929688, -97.70999908447266, -86.91999816894531, 2.259999990463257, 0.20999999344348907 ]
8.2
82
0
82
0
[ 30.849609375, -60.029296875, 73.65234375, -100.107421875, -87.01171875, 1.93359375, 199.423828125 ]
[ 30.940000534057617, -60.31999969482422, 73.05999755859375, -98.72000122070312, -86.97000122070312, 2.059999942779541, 0.20999999344348907 ]
8.3
83
0
83
0
[ 30.849609375, -59.94140625, 74.1796875, -101.162109375, -87.01171875, 1.7578125, 199.423828125 ]
[ 30.90999984741211, -60.119998931884766, 73.44000244140625, -99.66999816894531, -87.01000213623047, 1.9800000190734863, 0.20999999344348907 ]
8.4
84
0
84
0
[ 30.76171875, -59.94140625, 75.673828125, -102.744140625, -87.01171875, 0.966796875, 199.423828125 ]
[ 30.860000610351562, -59.9900016784668, 73.94000244140625, -100.6500015258789, -87.01000213623047, 1.840000033378601, 0.20999999344348907 ]
8.5
85
0
85
0
[ 30.673828125, -59.853515625, 76.728515625, -103.974609375, -87.01171875, 0.439453125, 199.423828125 ]
[ 30.799999237060547, -59.95000076293945, 75.0199966430664, -102.04000091552734, -87.01000213623047, 1.3200000524520874, 0.20999999344348907 ]
8.6
86
0
86
0
[ 30.5859375, -59.853515625, 77.51953125, -105.1171875, -87.01171875, 0.17578125, 199.423828125 ]
[ 30.719999313354492, -59.900001525878906, 76.2300033569336, -103.38999938964844, -87.01000213623047, 0.6899999976158142, 0.20999999344348907 ]
8.7
87
0
87
0
[ 30.5859375, -59.853515625, 78.310546875, -105.99609375, -87.01171875, -0.087890625, 199.423828125 ]
[ 30.6299991607666, -59.86000061035156, 77.16000366210938, -104.5999984741211, -87.01000213623047, 0.30000001192092896, 0.20999999344348907 ]
8.8
88
0
88
0
[ 30.5859375, -59.23828125, 78.57421875, -106.34765625, -87.01171875, -0.263671875, 199.423828125 ]
[ 30.59000015258789, -59.849998474121094, 77.93000030517578, -105.55999755859375, -87.01000213623047, 0.03999999910593033, 0.20999999344348907 ]
8.9
89
0
89
0
[ 30.498046875, -58.798828125, 78.57421875, -106.875, -87.01171875, -0.3515625, 199.423828125 ]
[ 30.59000015258789, -59.54999923706055, 78.44000244140625, -106.16000366210938, -87.01000213623047, -0.17000000178813934, 0.20999999344348907 ]
9
90
0
90
0
[ 30.41015625, -58.359375, 78.75, -107.578125, -87.01171875, -0.703125, 199.423828125 ]
[ 30.540000915527344, -59.02000045776367, 78.55999755859375, -106.62000274658203, -87.01000213623047, -0.3100000023841858, 0.20999999344348907 ]
9.1
91
0
91
0
[ 30.41015625, -58.271484375, 79.189453125, -108.45703125, -86.923828125, -0.87890625, 199.423828125 ]
[ 30.440000534057617, -58.529998779296875, 78.69000244140625, -107.30999755859375, -87.01000213623047, -0.5699999928474426, 0.20999999344348907 ]
9.2
92
0
92
0
[ 30.41015625, -58.18359375, 79.62890625, -109.3359375, -86.923828125, -0.87890625, 199.423828125 ]
[ 30.40999984741211, -58.310001373291016, 79.0199966430664, -108.08999633789062, -86.95999908447266, -0.8100000023841858, 0.20999999344348907 ]
9.3
93
0
93
0
[ 30.41015625, -58.18359375, 80.068359375, -110.478515625, -86.923828125, -0.87890625, 199.423828125 ]
[ 30.40999984741211, -58.22999954223633, 79.4000015258789, -108.87000274658203, -86.93000030517578, -0.8799999952316284, 0.20999999344348907 ]
9.4
94
0
94
0
[ 30.41015625, -58.0078125, 80.595703125, -111.796875, -86.923828125, -0.966796875, 199.423828125 ]
[ 30.40999984741211, -58.189998626708984, 79.8499984741211, -109.9000015258789, -86.93000030517578, -0.8799999952316284, 0.20999999344348907 ]
9.5
95
0
95
0
[ 30.41015625, -58.0078125, 80.947265625, -112.236328125, -86.923828125, -0.966796875, 199.423828125 ]
[ 30.40999984741211, -58.099998474121094, 80.33000183105469, -111.11000061035156, -86.93000030517578, -0.9200000166893005, 0.20999999344348907 ]
9.6
96
0
96
0
[ 30.41015625, -58.0078125, 81.38671875, -112.763671875, -87.01171875, -0.966796875, 199.423828125 ]
[ 30.40999984741211, -58.0099983215332, 80.79000091552734, -112.0199966430664, -86.91999816894531, -0.9599999785423279, 0.20999999344348907 ]
9.7
97
0
97
0
[ 30.41015625, -58.0078125, 81.650390625, -113.291015625, -87.01171875, -0.966796875, 199.423828125 ]
[ 30.40999984741211, -58.0099983215332, 81.23999786376953, -112.56999969482422, -86.9800033569336, -0.9700000286102295, 0.20999999344348907 ]
9.8
98
0
98
0
[ 30.41015625, -58.0078125, 81.826171875, -113.37890625, -87.01171875, -0.966796875, 199.3359375 ]
[ 30.40999984741211, -58.0099983215332, 81.54000091552734, -113.06999969482422, -87.01000213623047, -0.9700000286102295, 0.20999999344348907 ]
9.9
99
0
99
0
End of preview. Expand in Data Studio

Merged LeRobot Dataset

This dataset was created by merging multiple LeRobot datasets using the LeRobot Data Studio merge tool.

Source Datasets

This merged dataset combines the following 2 datasets:

Merge Details

  • Merge Date: Generated automatically
  • Source Count: 2 datasets
  • Episode Renumbering: Episodes are renumbered sequentially starting from 0

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "FRarm",
    "total_episodes": 52,
    "total_frames": 12216,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 0,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:52"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_1",
                "main_wrist_2",
                "main_wrist_3",
                "main_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_1",
                "main_wrist_2",
                "main_wrist_3",
                "main_gripper"
            ]
        },
        "observation.images.top": {
            "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": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.left_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": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.angle": {
            "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": 10,
                "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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License:
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Size of downloaded dataset files:
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Number of rows:
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