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Datasets:
0xNOY
/
so101_wn

Tasks:
Robotics
Modalities:
Tabular
Text
Time-series
Formats:
parquet
Size:
100K - 1M
Tags:
LeRobot
Libraries:
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Dask
License:
Dataset card Data Studio Files
xet
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action
list
observation.state
list
current_narration
stringclasses
9 values
previous_narrations
stringclasses
110 values
timestamp
float32
0
61.2
frame_index
int64
0
1.84k
episode_index
int64
0
132
index
int64
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103k
task_index
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Pick up the spoon.
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[ 12.682927131652832, 40.121212005615234, 21.14480972290039, -43.9429931640625, 52.91655731201172, 30.590578079223633 ]
["Pick up the spoon."]
1.8
54
0
54
2
[ 12.962270736694336, 38.7030143737793, 19.208276748657227, -44.69344711303711, 54.27975082397461, 16.58692169189453 ]
[ 12.764227867126465, 40.121212005615234, 21.14480972290039, -43.9429931640625, 52.91655731201172, 25.54744529724121 ]
["Pick up the spoon."]
1.833333
55
0
55
2
[ 13.036981582641602, 38.7030143737793, 19.298246383666992, -44.69344711303711, 54.27975082397461, 15.231260299682617 ]
[ 12.845528602600098, 40.121212005615234, 21.14480972290039, -43.9429931640625, 53.07350158691406, 21.23423957824707 ]
["Pick up the spoon."]
1.866667
56
0
56
2
[ 13.036981582641602, 38.7030143737793, 19.298246383666992, -44.69344711303711, 54.22755813598633, 13.317384719848633 ]
[ 12.845528602600098, 40.121212005615234, 21.14480972290039, -43.9429931640625, 53.805912017822266, 18.380889892578125 ]
["Pick up the spoon."]
1.9
57
0
57
2
[ 13.036981582641602, 38.7030143737793, 19.298246383666992, -44.69344711303711, 54.22755813598633, 12.121212005615234 ]
[ 12.845528602600098, 40.121212005615234, 21.14480972290039, -43.9429931640625, 54.172115325927734, 16.52289390563965 ]
["Pick up the spoon."]
1.933333
58
0
58
2
[ 13.036981582641602, 38.7030143737793, 19.298246383666992, -44.69344711303711, 54.123172760009766, 11.56299877166748 ]
[ 12.845528602600098, 40.121212005615234, 21.14480972290039, -43.9429931640625, 54.172115325927734, 14.797611236572266 ]
["Pick up the spoon."]
1.966667
59
0
59
2
[ 13.036981582641602, 38.7030143737793, 19.298246383666992, -44.69344711303711, 54.17536544799805, 9.250398635864258 ]
[ 12.845528602600098, 40.121212005615234, 21.14480972290039, -43.9429931640625, 54.172115325927734, 13.271400451660156 ]
["Pick up the spoon."]
2
60
0
60
2
[ 13.036981582641602, 38.7030143737793, 19.298246383666992, -44.69344711303711, 54.070980072021484, 5.183413028717041 ]
[ 12.845528602600098, 40.121212005615234, 21.14480972290039, -43.9429931640625, 54.172115325927734, 12.143331527709961 ]
["Pick up the spoon."]
2.033333
61
0
61
2
[ 12.962270736694336, 38.7030143737793, 19.298246383666992, -44.27061462402344, 54.22755813598633, 2.3923444747924805 ]
[ 12.845528602600098, 40.121212005615234, 21.14480972290039, -43.9429931640625, 54.172115325927734, 10.882548332214355 ]
["Pick up the spoon."]
2.066667
62
0
62
2
[ 12.887560844421387, 38.7030143737793, 19.388214111328125, -44.1860466003418, 54.331939697265625, 1.6746411323547363 ]
[ 12.764227867126465, 40.121212005615234, 21.14480972290039, -43.9429931640625, 54.172115325927734, 8.891838073730469 ]
["Pick up the spoon."]
2.1
63
0
63
2
[ 12.887560844421387, 38.7030143737793, 19.388214111328125, -44.1860466003418, 54.27975082397461, 1.5948963165283203 ]
[ 12.682927131652832, 40.121212005615234, 21.14480972290039, -43.9429931640625, 54.11980056762695, 5.773058891296387 ]
["Pick up the spoon."]
2.133333
64
0
64
2
[ 12.887560844421387, 38.7030143737793, 19.388214111328125, -44.1860466003418, 54.17536544799805, 1.5948963165283203 ]
[ 12.439023971557617, 40.121212005615234, 21.14480972290039, -43.9429931640625, 54.172115325927734, 5.1094889640808105 ]
["Pick up the spoon."]
2.166667
65
0
65
2
[ 12.887560844421387, 38.7030143737793, 19.388214111328125, -44.1860466003418, 54.123172760009766, 1.5948963165283203 ]
[ 12.439023971557617, 40.121212005615234, 21.14480972290039, -43.9429931640625, 54.172115325927734, 5.1094889640808105 ]
["Pick up the spoon."]
2.2
66
0
66
2
[ 12.812849998474121, 38.7030143737793, 19.388214111328125, -44.1860466003418, 54.123172760009766, 1.5948963165283203 ]
[ 12.439023971557617, 40.121212005615234, 21.14480972290039, -43.9429931640625, 54.172115325927734, 5.0431318283081055 ]
["Pick up the spoon."]
2.233333
67
0
67
2
[ 12.812849998474121, 38.7030143737793, 19.388214111328125, -44.27061462402344, 54.070980072021484, 1.5948963165283203 ]
[ 12.439023971557617, 40.121212005615234, 21.14480972290039, -43.9429931640625, 54.172115325927734, 5.0431318283081055 ]
["Pick up the spoon."]
2.266667
68
0
68
2
[ 12.738140106201172, 38.12474060058594, 19.298246383666992, -44.60887908935547, 54.070980072021484, 1.5948963165283203 ]
[ 12.439023971557617, 40.121212005615234, 21.14480972290039, -43.9429931640625, 54.172115325927734, 5.0431318283081055 ]
["Pick up the spoon."]
2.3
69
0
69
2
[ 12.738140106201172, 37.7943000793457, 19.298246383666992, -44.1860466003418, 54.0187873840332, 1.5948963165283203 ]
[ 12.439023971557617, 40.121212005615234, 21.14480972290039, -43.9429931640625, 54.172115325927734, 5.0431318283081055 ]
["Pick up the spoon."]
2.333333
70
0
70
2
[ 12.514008522033691, 37.71168899536133, 18.938371658325195, -44.60887908935547, 54.0187873840332, 1.5948963165283203 ]
[ 12.439023971557617, 40.121212005615234, 21.14480972290039, -43.9429931640625, 54.172115325927734, 5.0431318283081055 ]
["Pick up the spoon."]
2.366667
71
0
71
2
[ 12.06574535369873, 36.55514144897461, 18.5784969329834, -44.60887908935547, 54.0187873840332, 1.5948963165283203 ]
[ 12.439023971557617, 40.121212005615234, 21.14480972290039, -43.9429931640625, 54.172115325927734, 5.0431318283081055 ]
["Pick up the spoon."]
2.4
72
0
72
2
[ 11.916324615478516, 33.168113708496094, 19.568151473999023, -44.01691436767578, 53.96659851074219, 1.5948963165283203 ]
[ 12.439023971557617, 40.121212005615234, 21.14480972290039, -43.9429931640625, 54.172115325927734, 5.0431318283081055 ]
["Pick up the spoon."]
2.433333
73
0
73
2
[ 11.916324615478516, 29.615861892700195, 22.087268829345703, -43.93234634399414, 53.96659851074219, 1.5151515007019043 ]
[ 12.439023971557617, 40.121212005615234, 21.14480972290039, -43.9429931640625, 54.172115325927734, 5.0431318283081055 ]
["Pick up the spoon."]
2.466667
74
0
74
2
[ 11.916324615478516, 26.228830337524414, 24.786325454711914, -43.93234634399414, 53.96659851074219, 1.5151515007019043 ]
[ 12.357723236083984, 39.9595947265625, 21.14480972290039, -43.9429931640625, 54.172115325927734, 5.0431318283081055 ]
["Pick up the spoon."]
2.5
75
0
75
2
[ 11.84161376953125, 23.33746337890625, 26.94556999206543, -43.93234634399414, 53.914405822753906, 1.5151515007019043 ]
[ 12.276422500610352, 38.58585739135742, 21.74284553527832, -43.9429931640625, 54.172115325927734, 5.0431318283081055 ]
["Pick up the spoon."]
2.533333
76
0
76
2
[ 11.84161376953125, 21.685253143310547, 27.84525489807129, -44.01691436767578, 53.862213134765625, 1.5151515007019043 ]
[ 12.276422500610352, 35.51515197753906, 23.9641170501709, -43.9429931640625, 54.172115325927734, 5.0431318283081055 ]
["Pick up the spoon."]
2.566667
77
0
77
2
[ 11.84161376953125, 20.693927764892578, 27.935222625732422, -44.01691436767578, 52.92275619506836, 1.5151515007019043 ]
[ 12.113821029663086, 32.121212005615234, 26.441692352294922, -43.9429931640625, 54.172115325927734, 5.0431318283081055 ]
["Pick up the spoon."]
2.6
78
0
78
2
[ 11.84161376953125, 20.52870750427246, 27.39541244506836, -44.01691436767578, 52.60960388183594, 1.5151515007019043 ]
[ 12.032520294189453, 29.373737335205078, 28.235795974731445, -43.9429931640625, 54.172115325927734, 5.0431318283081055 ]
["Pick up the spoon."]
2.633333
79
0
79
2
[ 11.916324615478516, 20.52870750427246, 27.21547508239746, -44.01691436767578, 52.8183708190918, 1.5151515007019043 ]
[ 11.95121955871582, 27.353534698486328, 28.833831787109375, -43.9429931640625, 53.7012825012207, 5.0431318283081055 ]
["Pick up the spoon."]
2.666667
80
0
80
2
[ 11.916324615478516, 20.52870750427246, 27.125505447387695, -44.01691436767578, 52.87056350708008, 1.5151515007019043 ]
[ 12.032520294189453, 26.303030014038086, 28.833831787109375, -43.9429931640625, 53.02118682861328, 5.0431318283081055 ]
["Pick up the spoon."]
2.7
81
0
81
2
[ 11.916324615478516, 20.52870750427246, 27.125505447387695, -44.01691436767578, 52.87056350708008, 1.5151515007019043 ]
[ 12.032520294189453, 26.22222137451172, 28.833831787109375, -43.9429931640625, 52.86424255371094, 5.0431318283081055 ]
["Pick up the spoon."]
2.733333
82
0
82
2
[ 11.916324615478516, 20.611318588256836, 27.305442810058594, -44.01691436767578, 52.92275619506836, 1.5151515007019043 ]
[ 12.032520294189453, 26.22222137451172, 28.833831787109375, -43.9429931640625, 52.86424255371094, 5.0431318283081055 ]
["Pick up the spoon."]
2.766667
83
0
83
2
[ 11.84161376953125, 20.611318588256836, 27.39541244506836, -44.01691436767578, 52.92275619506836, 1.5151515007019043 ]
[ 12.032520294189453, 26.22222137451172, 28.833831787109375, -43.9429931640625, 52.86424255371094, 5.0431318283081055 ]
["Pick up the spoon."]
2.8
84
0
84
2
[ 11.84161376953125, 20.611318588256836, 27.125505447387695, -44.01691436767578, 52.92275619506836, 1.5151515007019043 ]
[ 12.032520294189453, 26.22222137451172, 28.833831787109375, -43.9429931640625, 52.86424255371094, 5.0431318283081055 ]
["Pick up the spoon."]
2.833333
85
0
85
2
[ 11.84161376953125, 20.446096420288086, 27.125505447387695, -44.01691436767578, 52.92275619506836, 1.5151515007019043 ]
[ 12.032520294189453, 26.22222137451172, 28.833831787109375, -43.9429931640625, 52.86424255371094, 5.0431318283081055 ]
["Pick up the spoon."]
2.866667
86
0
86
2
[ 11.991034507751465, 20.198265075683594, 27.125505447387695, -44.01691436767578, 52.92275619506836, 1.5151515007019043 ]
[ 12.032520294189453, 26.22222137451172, 28.833831787109375, -43.9429931640625, 52.86424255371094, 5.0431318283081055 ]
(done) Scoop the red beans.
["Pick up the spoon."]
2.9
87
0
87
2
[ 12.140456199645996, 20.11565399169922, 27.125505447387695, -44.101478576660156, 52.92275619506836, 1.5151515007019043 ]
[ 12.032520294189453, 26.22222137451172, 28.833831787109375, -43.9429931640625, 52.86424255371094, 5.0431318283081055 ]
["Pick up the spoon.", " (done)\nScoop the red beans."]
2.933333
88
0
88
2
[ 12.215166091918945, 19.9504337310791, 27.485380172729492, -43.93234634399414, 52.60960388183594, 1.5151515007019043 ]
[ 12.032520294189453, 26.22222137451172, 28.833831787109375, -43.9429931640625, 52.86424255371094, 5.0431318283081055 ]
["Pick up the spoon.", " (done)\nScoop the red beans."]
2.966667
89
0
89
2
[ 12.215166091918945, 19.785213470458984, 27.84525489807129, -43.17124557495117, 51.46137619018555, 1.5151515007019043 ]
[ 12.032520294189453, 26.22222137451172, 28.833831787109375, -43.9429931640625, 52.86424255371094, 5.0431318283081055 ]
["Pick up the spoon.", " (done)\nScoop the red beans."]
3
90
0
90
2
[ 12.215166091918945, 18.876497268676758, 26.76563262939453, -38.77378463745117, 48.38204574584961, 1.5151515007019043 ]
[ 12.032520294189453, 26.22222137451172, 28.833831787109375, -43.9429931640625, 52.811927795410156, 5.0431318283081055 ]
["Pick up the spoon.", " (done)\nScoop the red beans."]
3.033333
91
0
91
2
[ 11.916324615478516, 14.580751419067383, 25.775978088378906, -32.68498992919922, 46.03340148925781, 1.5151515007019043 ]
[ 12.032520294189453, 26.22222137451172, 28.833831787109375, -43.626285552978516, 52.341094970703125, 5.0431318283081055 ]
["Pick up the spoon.", " (done)\nScoop the red beans."]
3.066667
92
0
92
2
[ 11.84161376953125, 9.376290321350098, 25.596040725708008, -25.24312973022461, 42.693111419677734, 1.5151515007019043 ]
[ 12.032520294189453, 25.898990631103516, 28.833831787109375, -41.884403228759766, 51.03321838378906, 5.0431318283081055 ]
["Pick up the spoon.", " (done)\nScoop the red beans."]
3.1
93
0
93
2
[ 11.468061447143555, 4.171829700469971, 25.865947723388672, -19.40803337097168, 38.72651290893555, 1.5151515007019043 ]
[ 12.032520294189453, 24.606060028076172, 28.833831787109375, -38.16310501098633, 48.52210235595703, 5.0431318283081055 ]
["Pick up the spoon.", " (done)\nScoop the red beans."]
3.133333
94
0
94
2
[ 10.945087432861328, 0.12391573935747147, 26.585695266723633, -15.7716703414917, 35.90814208984375, 1.5151515007019043 ]
[ 12.032520294189453, 20.646465301513672, 28.833831787109375, -32.22486114501953, 46.11561584472656, 5.0431318283081055 ]
["Pick up the spoon.", " (done)\nScoop the red beans."]
3.166667
95
0
95
2
[ 10.646245956420898, -4.089219093322754, 27.84525489807129, -10.951374053955078, 32.88100051879883, 1.9936203956604004 ]
[ 12.032520294189453, 15.797979354858398, 28.748397827148438, -25.65320587158203, 42.92440414428711, 5.0431318283081055 ]
["Pick up the spoon.", " (done)\nScoop the red beans."]
3.2
96
0
96
2
[ 10.571535110473633, -8.880627632141113, 29.194782257080078, -5.031712532043457, 31.26304817199707, 1.9936203956604004 ]
[ 11.626016616821289, 10.383838653564453, 28.833831787109375, -19.319082260131836, 39.15773010253906, 5.0431318283081055 ]
["Pick up the spoon.", " (done)\nScoop the red beans."]
3.233333
97
0
97
2
[ 10.571535110473633, -14.167698860168457, 30.8142147064209, 2.7484142780303955, 30.532358169555664, 1.9936203956604004 ]
[ 10.894309043884277, 5.616161823272705, 28.833831787109375, -15.281076431274414, 36.228092193603516, 5.0431318283081055 ]
["Pick up the spoon.", " (done)\nScoop the red beans."]
3.266667
98
0
98
2
[ 10.795666694641113, -19.454771041870117, 30.8142147064209, 11.035941123962402, 30.114822387695312, 1.5151515007019043 ]
[ 10.243902206420898, 0.7676767706871033, 29.602733612060547, -10.213776588439941, 33.24614334106445, 5.0431318283081055 ]
["Pick up the spoon.", " (done)\nScoop the red beans."]
3.3
99
0
99
2
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "so101_follower",
    "total_episodes": 133,
    "total_frames": 103433,
    "total_tasks": 13,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:133"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.images.top": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "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
            }
        },
        "observation.images.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": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "current_narration": {
            "dtype": "string",
            "shape": [
                1
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            "names": null
        },
        "previous_narrations": {
            "dtype": "string",
            "shape": [
                1
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            "names": null
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
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        "frame_index": {
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            "shape": [
                1
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            "names": null
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        "episode_index": {
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            "shape": [
                1
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            "names": null
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        "index": {
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            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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Downloads last month
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License:
apache-2.0
Size of downloaded dataset files:
4.68 MB
Size of the auto-converted Parquet files:
4.68 MB
Number of rows:
103,433