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Datasets:
kantine
/
kapla_tower_2_expert

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
kapla
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
1
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action
sequence
observation.state
sequence
timestamp
float32
0
39.8
frame_index
int64
0
1.2k
episode_index
int64
0
19
index
int64
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23.9k
task_index
int64
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2.333333
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0
70
0
[ -87.36328125, 192.744140625, 178.857421875, 76.11328125, -44.82421875, 1.3133208751678467 ]
[ -86.66015625, 192.83203125, 179.033203125, 75.234375, -45.17578125, 1.6188373565673828 ]
2.366667
71
0
71
0
[ -87.275390625, 192.744140625, 178.857421875, 76.11328125, -44.82421875, 1.3133208751678467 ]
[ -87.01171875, 192.83203125, 179.033203125, 75.234375, -45.17578125, 1.6188373565673828 ]
2.4
72
0
72
0
[ -87.275390625, 192.65625, 178.857421875, 76.11328125, -45.17578125, 1.3133208751678467 ]
[ -87.1875, 192.83203125, 179.033203125, 75.234375, -45.17578125, 1.6188373565673828 ]
2.433333
73
0
73
0
[ -87.5390625, 192.392578125, 178.857421875, 76.201171875, -45.615234375, 1.3133208751678467 ]
[ -87.275390625, 192.83203125, 179.033203125, 75.234375, -45.17578125, 1.6188373565673828 ]
2.466667
74
0
74
0
[ -87.626953125, 192.12890625, 178.857421875, 76.201171875, -45.791015625, 1.3133208751678467 ]
[ -87.275390625, 192.83203125, 179.033203125, 75.234375, -45.17578125, 1.6188373565673828 ]
2.5
75
0
75
0
[ -87.626953125, 191.953125, 178.857421875, 76.2890625, -45.791015625, 1.3133208751678467 ]
[ -87.099609375, 192.83203125, 179.033203125, 75.234375, -45.439453125, 1.6188373565673828 ]
2.533333
76
0
76
0
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[ -87.1875, 192.744140625, 179.033203125, 75.234375, -45.52734375, 1.6188373565673828 ]
2.566667
77
0
77
0
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[ -87.451171875, 192.568359375, 179.033203125, 75.234375, -45.615234375, 1.6188373565673828 ]
2.6
78
0
78
0
[ -87.275390625, 191.953125, 178.857421875, 76.2890625, -45.703125, 1.3133208751678467 ]
[ -87.5390625, 192.392578125, 179.033203125, 75.234375, -45.615234375, 1.6188373565673828 ]
2.633333
79
0
79
0
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[ -87.5390625, 192.392578125, 179.033203125, 75.234375, -45.615234375, 1.6188373565673828 ]
2.666667
80
0
80
0
[ -86.30859375, 191.513671875, 178.76953125, 76.376953125, -46.0546875, 1.3133208751678467 ]
[ -87.5390625, 192.392578125, 179.033203125, 75.234375, -45.615234375, 1.6188373565673828 ]
2.7
81
0
81
0
[ -85.869140625, 190.986328125, 178.681640625, 76.46484375, -46.40625, 1.3133208751678467 ]
[ -87.36328125, 192.392578125, 179.033203125, 75.234375, -45.615234375, 1.6188373565673828 ]
2.733333
82
0
82
0
[ -85.517578125, 190.37109375, 178.59375, 76.640625, -46.93359375, 1.3133208751678467 ]
[ -86.8359375, 191.953125, 179.033203125, 75.322265625, -45.791015625, 1.6188373565673828 ]
2.766667
83
0
83
0
[ -85.078125, 190.01953125, 178.59375, 76.640625, -47.28515625, 1.3133208751678467 ]
[ -86.220703125, 191.513671875, 179.033203125, 75.322265625, -46.0546875, 1.6188373565673828 ]
2.8
84
0
84
0
[ -84.638671875, 190.01953125, 178.505859375, 76.728515625, -47.373046875, 1.3133208751678467 ]
[ -85.78125, 191.162109375, 179.033203125, 75.322265625, -46.494140625, 1.6188373565673828 ]
2.833333
85
0
85
0
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[ -85.4296875, 191.07421875, 179.033203125, 75.322265625, -46.845703125, 1.6188373565673828 ]
2.866667
86
0
86
0
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[ -85.25390625, 190.986328125, 179.033203125, 75.322265625, -47.021484375, 1.6188373565673828 ]
2.9
87
0
87
0
[ -83.408203125, 189.052734375, 178.154296875, 76.728515625, -48.076171875, 1.3133208751678467 ]
[ -84.90234375, 190.810546875, 179.033203125, 75.322265625, -47.28515625, 1.6188373565673828 ]
2.933333
88
0
88
0
[ -83.14453125, 188.525390625, 177.71484375, 76.81640625, -48.515625, 1.3133208751678467 ]
[ -84.19921875, 190.458984375, 179.033203125, 75.322265625, -47.548828125, 1.6188373565673828 ]
2.966667
89
0
89
0
[ -82.79296875, 188.0859375, 177.099609375, 77.080078125, -48.955078125, 1.3133208751678467 ]
[ -83.583984375, 190.01953125, 179.033203125, 75.322265625, -47.8125, 1.6188373565673828 ]
3
90
0
90
0
[ -82.177734375, 187.646484375, 176.396484375, 77.34375, -49.39453125, 1.3133208751678467 ]
[ -83.408203125, 189.66796875, 178.9453125, 75.322265625, -48.1640625, 1.6188373565673828 ]
3.033333
91
0
91
0
[ -81.298828125, 187.294921875, 175.693359375, 77.51953125, -49.658203125, 1.3133208751678467 ]
[ -83.408203125, 189.31640625, 178.76953125, 75.322265625, -48.603515625, 1.6188373565673828 ]
3.066667
92
0
92
0
[ -80.68359375, 186.767578125, 175.166015625, 77.783203125, -49.921875, 1.3133208751678467 ]
[ -82.96875, 188.96484375, 178.41796875, 75.322265625, -49.04296875, 1.6188373565673828 ]
3.1
93
0
93
0
[ -80.15625, 186.328125, 174.7265625, 77.958984375, -50.09765625, 1.3133208751678467 ]
[ -82.08984375, 188.4375, 177.890625, 75.322265625, -49.306640625, 1.6188373565673828 ]
3.133333
94
0
94
0
[ -79.453125, 186.15234375, 174.375, 77.958984375, -49.74609375, 1.3133208751678467 ]
[ -81.2109375, 187.998046875, 177.36328125, 75.5859375, -49.658203125, 1.6188373565673828 ]
3.166667
95
0
95
0
[ -78.662109375, 186.064453125, 173.583984375, 78.22265625, -49.5703125, 1.4071294069290161 ]
[ -80.68359375, 187.646484375, 176.923828125, 75.76171875, -49.74609375, 1.6188373565673828 ]
3.2
96
0
96
0
[ -77.958984375, 185.80078125, 172.08984375, 78.92578125, -49.5703125, 1.3133208751678467 ]
[ -80.244140625, 187.3828125, 176.396484375, 75.849609375, -49.74609375, 1.6188373565673828 ]
3.233333
97
0
97
0
[ -77.783203125, 184.921875, 169.98046875, 78.57421875, -47.63671875, 1.1257035732269287 ]
[ -79.8046875, 187.20703125, 175.78125, 76.11328125, -49.74609375, 1.6188373565673828 ]
3.266667
98
0
98
0
[ -76.81640625, 183.515625, 167.431640625, 77.6953125, -46.7578125, 1.1257035732269287 ]
[ -79.013671875, 186.6796875, 174.814453125, 76.46484375, -49.74609375, 1.6188373565673828 ]
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": "v2.1",
    "robot_type": "so100",
    "total_episodes": 20,
    "total_frames": 23917,
    "total_tasks": 1,
    "total_videos": 20,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:20"
    },
    "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": [
                6
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.logitech_1": {
            "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": [
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            ],
            "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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