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Datasets:
Beegbrain
/
stack_2_cubes

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
moss
cube
Libraries:
Datasets
Dask
License:
Dataset card Viewer Files Community
1
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action
sequence
observation.state
sequence
timestamp
float32
0
20.7
frame_index
int64
0
621
episode_index
int64
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14
index
int64
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7.96k
task_index
int64
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[ 14.94140625, 182.373046875, 115.3125, 86.8359375, 2.109375, 1.7680339813232422 ]
2.566667
77
0
77
0
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[ 14.501953125, 180.87890625, 114.609375, 86.8359375, 2.109375, 1.8387552499771118 ]
2.6
78
0
78
0
[ 13.271484375, 170.068359375, 110.302734375, 86.923828125, 2.98828125, 3.2411820888519287 ]
[ 14.150390625, 178.9453125, 113.90625, 86.8359375, 2.109375, 1.8387552499771118 ]
2.633333
79
0
79
0
[ 12.83203125, 168.3984375, 109.6875, 87.1875, 2.900390625, 3.62249755859375 ]
[ 13.974609375, 177.099609375, 113.203125, 86.8359375, 2.109375, 2.0509192943573 ]
2.666667
80
0
80
0
[ 12.392578125, 166.728515625, 109.072265625, 87.71484375, 2.900390625, 4.671115398406982 ]
[ 13.623046875, 175.4296875, 112.5, 87.01171875, 2.109375, 2.121640682220459 ]
2.7
81
0
81
0
[ 11.953125, 165.146484375, 108.6328125, 88.2421875, 2.900390625, 6.768350601196289 ]
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2.733333
82
0
82
0
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[ 12.568359375, 171.9140625, 111.357421875, 87.1875, 2.109375, 2.7581329345703125 ]
2.766667
83
0
83
0
[ 11.07421875, 162.158203125, 108.017578125, 88.857421875, 2.900390625, 10.676835060119629 ]
[ 12.12890625, 170.15625, 110.7421875, 87.5390625, 2.109375, 3.818953275680542 ]
2.8
84
0
84
0
[ 10.810546875, 160.48828125, 107.40234375, 89.208984375, 2.900390625, 11.248808860778809 ]
[ 11.77734375, 168.57421875, 110.478515625, 87.71484375, 2.109375, 5.233380317687988 ]
2.833333
85
0
85
0
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[ 11.513671875, 166.81640625, 110.0390625, 88.06640625, 2.109375, 6.859971523284912 ]
2.866667
86
0
86
0
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[ 10.986328125, 165.234375, 109.423828125, 88.59375, 2.109375, 8.132956504821777 ]
2.9
87
0
87
0
[ 10.37109375, 155.56640625, 105.732421875, 91.494140625, 2.63671875, 17.159198760986328 ]
[ 10.458984375, 163.30078125, 108.984375, 89.384765625, 2.109375, 9.476661682128906 ]
2.933333
88
0
88
0
[ 10.283203125, 154.072265625, 105.1171875, 91.7578125, 2.63671875, 18.11248779296875 ]
[ 10.1953125, 161.71875, 108.45703125, 90.087890625, 2.109375, 11.244695663452148 ]
2.966667
89
0
89
0
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[ 10.107421875, 159.9609375, 108.017578125, 90.439453125, 2.109375, 13.083451271057129 ]
3
90
0
90
0
[ 10.107421875, 151.34765625, 104.326171875, 92.724609375, 1.93359375, 22.78360366821289 ]
[ 10.1953125, 158.291015625, 107.578125, 90.966796875, 2.109375, 14.639321327209473 ]
3.033333
91
0
91
0
[ 10.107421875, 149.94140625, 103.53515625, 94.04296875, 1.93359375, 26.50143051147461 ]
[ 10.37109375, 156.357421875, 107.05078125, 91.494140625, 1.93359375, 16.478076934814453 ]
3.066667
92
0
92
0
[ 10.107421875, 148.447265625, 102.744140625, 95.185546875, 1.58203125, 29.55195426940918 ]
[ 10.458984375, 154.951171875, 106.5234375, 92.109375, 1.669921875, 18.10466766357422 ]
3.1
93
0
93
0
[ 10.107421875, 146.865234375, 102.12890625, 96.240234375, 0.615234375, 32.0305061340332 ]
[ 10.458984375, 153.45703125, 105.908203125, 93.076171875, 1.40625, 20.08486557006836 ]
3.133333
94
0
94
0
[ 10.1953125, 145.1953125, 101.513671875, 97.119140625, -0.17578125, 33.84175491333008 ]
[ 10.458984375, 151.787109375, 105.380859375, 93.955078125, 1.0546875, 22.56011390686035 ]
3.166667
95
0
95
0
[ 10.37109375, 143.525390625, 100.634765625, 98.525390625, -1.7578125, 36.03431701660156 ]
[ 10.458984375, 150.1171875, 104.94140625, 94.921875, 0.703125, 25.24752426147461 ]
3.2
96
0
96
0
[ 10.546875, 141.767578125, 99.931640625, 99.84375, -3.33984375, 38.22688293457031 ]
[ 10.458984375, 148.447265625, 104.150390625, 96.064453125, 0.263671875, 27.9349365234375 ]
3.233333
97
0
97
0
[ 10.72265625, 140.44921875, 99.4921875, 100.810546875, -4.306640625, 40.99142074584961 ]
[ 10.458984375, 146.865234375, 103.447265625, 96.943359375, -0.439453125, 30.056577682495117 ]
3.266667
98
0
98
0
[ 10.8984375, 139.130859375, 99.31640625, 101.337890625, -4.833984375, 42.89799880981445 ]
[ 10.546875, 145.107421875, 102.83203125, 97.91015625, -1.58203125, 32.46110153198242 ]
3.3
99
0
99
0
End of preview. Expand in Dataset Viewer.

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "moss",
    "total_episodes": 15,
    "total_frames": 7961,
    "total_tasks": 1,
    "total_videos": 15,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
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    "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": {
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            "shape": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
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            "shape": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.laptop": {
            "dtype": "video",
            "shape": [
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                3
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            "names": [
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                "width",
                "channels"
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            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
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                "has_audio": false
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        },
        "timestamp": {
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            "shape": [
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            "names": null
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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