Search is not available for this dataset
observation.state listlengths 48 48 | action listlengths 32 32 | timestamp float64 0 75.8 | frame_index int64 0 2.27k | episode_index int64 0 99 | index int64 0 134k | task_index int64 0 0 |
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End of preview. Expand in Data Studio
openarm_shirt_folding_100_2x_speedup
A 2x sped-up copy of the TobiBrtnr/openarm_shirt_folding_100 LeRobot dataset.
The original was recorded at 30 Hz. This dataset keeps the original fps, so playing it back at the same rate is 2x faster. It was produced with pairs (o_{2i}, a_{2i + 1}): the observation of every second timestep paired with the action of the dropped timestep.
The gripper is excluded from the speedup: frames within 5 frames before and 5 frames after each detected gripper event (the finger joint action jumping by more than 0.01 between consecutive frames) are kept at original speed, so the approach and settle around gripper movements stay slow and precise.
Provenance
- Source dataset: TobiBrtnr/openarm_shirt_folding_100
- Generated by:
speedup_dataset.pyin the workshop-robotics repository, run as:
python -m tng_lerobot.speedup_dataset \
--dataset-name TobiBrtnr/openarm_shirt_folding_100 --speedup 2
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