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augelu-tng
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so101-pen-to-bin-variable-positions

Tasks:
Robotics
Modalities:
Tabular
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Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
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License:
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  1. README.md +203 -0
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README.md ADDED
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1
+ ---
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+ license: apache-2.0
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+ task_categories:
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+ - robotics
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+ tags:
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+ - LeRobot
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+ configs:
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+ - config_name: default
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+ data_files: data/*/*.parquet
10
+ ---
11
+
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+ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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+
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+ ## Dataset Description
15
+
16
+
17
+
18
+ - **Homepage:** [More Information Needed]
19
+ - **Paper:** [More Information Needed]
20
+ - **License:** apache-2.0
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+
22
+ ## Dataset Structure
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+
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+ [meta/info.json](meta/info.json):
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+ ```json
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+ {
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+ "codebase_version": "v2.1",
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+ "robot_type": "so101_follower_advanced",
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+ "total_episodes": 61,
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+ "total_frames": 21120,
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+ "total_tasks": 1,
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+ "total_videos": 183,
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+ "total_chunks": 1,
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+ "chunks_size": 1000,
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+ "fps": 30,
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+ "splits": {
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+ "train": "0:61"
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+ },
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+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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+ "features": {
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+ "action": {
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+ "dtype": "float32",
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+ "shape": [
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+ 12
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+ ],
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+ "names": [
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+ "shoulder_pan.pos",
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+ "shoulder_lift.pos",
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+ "elbow_flex.pos",
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+ "wrist_flex.pos",
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+ "wrist_roll.pos",
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+ "gripper.pos",
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+ "shoulder_pan.vel",
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+ "shoulder_lift.vel",
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+ "elbow_flex.vel",
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+ "wrist_flex.vel",
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+ "wrist_roll.vel",
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+ "gripper.vel"
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+ ]
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+ },
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+ "observation.state": {
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+ "dtype": "float32",
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+ "shape": [
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+ 18
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+ ],
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+ "names": [
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+ "shoulder_pan.pos",
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+ "shoulder_lift.pos",
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+ "elbow_flex.pos",
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+ "wrist_flex.pos",
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+ "wrist_roll.pos",
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+ "gripper.pos",
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+ "shoulder_pan.vel",
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+ "shoulder_lift.vel",
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+ "elbow_flex.vel",
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+ "wrist_flex.vel",
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+ "wrist_roll.vel",
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+ "gripper.vel",
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+ "shoulder_pan.load",
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+ "shoulder_lift.load",
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+ "elbow_flex.load",
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+ "wrist_flex.load",
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+ "wrist_roll.load",
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+ "gripper.load"
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+ ]
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+ },
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+ "observation.images.wrist": {
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+ "dtype": "video",
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+ "shape": [
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+ 480,
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+ 640,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "channels"
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+ ],
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+ "info": {
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+ "video.height": 480,
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+ "video.width": 640,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "video.fps": 30,
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+ "video.channels": 3,
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+ "has_audio": false
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+ }
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+ },
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+ "observation.images.global1": {
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+ "dtype": "video",
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+ "shape": [
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+ 480,
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+ 640,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "channels"
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+ ],
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+ "info": {
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+ "video.height": 480,
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+ "video.width": 640,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "video.fps": 30,
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+ "video.channels": 3,
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+ "has_audio": false
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+ }
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+ },
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+ "observation.images.global2": {
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+ "dtype": "video",
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+ "shape": [
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+ 480,
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+ 640,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "channels"
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+ ],
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+ "info": {
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+ "video.height": 480,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "video.fps": 30,
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+ "video.channels": 3,
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+ "has_audio": false
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+ }
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+ },
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+ "timestamp": {
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+ "dtype": "float32",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "frame_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "episode_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "task_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ }
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+ }
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+ }
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+ ```
195
+
196
+
197
+ ## Citation
198
+
199
+ **BibTeX:**
200
+
201
+ ```bibtex
202
+ [More Information Needed]
203
+ ```
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