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float32
0
27.4
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int64
0
274
episode_index
int64
0
99
index
int64
0
22.5k
task_index
int64
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[ -4.237978935241699, -97.70209503173828, 99.54853057861328, 75.86820983886719, 4.664224624633789, 1.0744435787200928 ]
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0.1
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0.2
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0.3
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0.4
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0.5
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0.6
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0.7
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0.8
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0.9
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1
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1.1
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1.2
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1.3
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1.4
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1.5
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1.6
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1.7
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1.8
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1.9
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2
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2.1
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2.2
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2.3
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2.4
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2.5
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2.6
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2.7
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2.8
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2.9
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3
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3.1
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3.2
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3.3
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3.4
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3.5
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3.6
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3.7
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3.8
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3.9
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4
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4.1
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4.2
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4.3
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4.4
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4.5
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4.6
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4.7
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4.8
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4.9
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5
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5.1
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5.2
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5.3
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5.4
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5.5
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5.6
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5.7
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[ -14.784505844116211, -22.450693130493164, 28.086837768554688, 27.31958770751953, 4.9084248542785645, 8.07584285736084 ]
5.8
58
0
58
0
[ 0.24449877440929413, -25.810422897338867, 34.53724670410156, 27.248441696166992, 4.9572649002075195, 1.0744435787200928 ]
[ -7.25586462020874, -24.4649600982666, 30.710086822509766, 27.31958770751953, 4.9084248542785645, 8.07584285736084 ]
5.9
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0
59
0
[ 2.526487350463867, -22.609766006469727, 35.25959396362305, 27.248441696166992, 4.9572649002075195, 1.0744435787200928 ]
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6
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0
60
0
[ 3.3414833545684814, -17.521543502807617, 34.26636505126953, 27.248441696166992, 4.713064670562744, 1.0744435787200928 ]
[ 0.16366611421108246, -23.122114181518555, 35.59475326538086, 27.31958770751953, 4.9084248542785645, 8.07584285736084 ]
6.1
61
0
61
0
[ 3.585982084274292, -11.038161277770996, 30.293453216552734, 27.248441696166992, 4.664224624633789, 1.0744435787200928 ]
[ 2.673213243484497, -19.932857513427734, 35.685211181640625, 27.31958770751953, 4.9084248542785645, 8.07584285736084 ]
6.2
62
0
62
0
[ 3.748981237411499, -3.898235559463501, 23.972911834716797, 27.248441696166992, 4.664224624633789, 1.0744435787200928 ]
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6.3
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0
63
0
[ 3.748981237411499, 2.749281883239746, 17.200902938842773, 27.248441696166992, 4.664224624633789, 1.0744435787200928 ]
[ 2.7823240756988525, -8.182962417602539, 31.433740615844727, 27.31958770751953, 4.9084248542785645, 8.07584285736084 ]
6.4
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0
64
0
[ 3.259983777999878, 7.755436897277832, 12.325056076049805, 29.029386520385742, 4.664224624633789, 1.0744435787200928 ]
[ 3.3278777599334717, -0.4616030156612396, 25.37313461303711, 27.31958770751953, 4.9084248542785645, 8.07584285736084 ]
6.5
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0
65
0
[ 2.7709860801696777, 11.366434097290039, 6.817155838012695, 35.975067138671875, 4.615384578704834, 1.0744435787200928 ]
[ 3.3278777599334717, 5.665127754211426, 19.222070693969727, 28.006872177124023, 4.9084248542785645, 8.07584285736084 ]
6.6
66
0
66
0
[ 1.5484923124313354, 13.82847785949707, 2.2121896743774414, 38.91362380981445, 4.615384578704834, 1.0744435787200928 ]
[ 3.2187671661376953, 10.532941818237305, 13.794663429260254, 30.92783546447754, 4.9084248542785645, 8.07584285736084 ]
6.7
67
0
67
0
[ 0.5704971551895142, 15.22363567352295, 0.4063205420970917, 39.35886001586914, 4.615384578704834, 1.0744435787200928 ]
[ 3.2187671661376953, 13.806126594543457, 8.548168182373047, 36.76976013183594, 4.9084248542785645, 8.07584285736084 ]
6.8
68
0
68
0
[ -0.40749797224998474, 15.798112869262695, 0.045146726071834564, 43.009796142578125, 4.615384578704834, 1.0744435787200928 ]
[ 2.127659559249878, 15.736466407775879, 4.929895877838135, 39.00343704223633, 4.9084248542785645, 8.07584285736084 ]
6.9
69
0
69
0
[ -1.792991042137146, 16.0443172454834, 0.1354401856660843, 43.722171783447266, 4.615384578704834, 1.0744435787200928 ]
[ 0.9274413585662842, 16.407888412475586, 3.4825870990753174, 40.807559967041016, 4.9084248542785645, 8.07584285736084 ]
7
70
0
70
0
[ -2.9339852333068848, 16.126384735107422, 0.045146726071834564, 43.722171783447266, 4.566544532775879, 1.0744435787200928 ]
[ -0.16366611421108246, 16.57574462890625, 3.3921303749084473, 43.041236877441406, 4.9084248542785645, 8.07584285736084 ]
7.1
71
0
71
0
[ -3.585982084274292, 16.208452224731445, 0.7674943804740906, 43.722171783447266, 4.566544532775879, 1.0744435787200928 ]
[ -1.4729950428009033, 16.57574462890625, 3.301673412322998, 43.38488006591797, 4.9084248542785645, 8.07584285736084 ]
7.2
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0
72
0
[ -3.585982084274292, 16.70086097717285, 1.580135464668274, 43.36598587036133, 4.566544532775879, 1.0744435787200928 ]
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7.3
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0
73
0
[ -3.585982084274292, 17.849815368652344, 2.2121896743774414, 43.27693557739258, 4.566544532775879, 1.0744435787200928 ]
[ -2.891434907913208, 17.247167587280273, 3.301673412322998, 43.55670166015625, 4.713064670562744, 8.07584285736084 ]
7.4
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0
74
0
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7.5
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0
75
0
[ -3.096984624862671, 21.050472259521484, 2.5733635425567627, 41.13980484008789, 4.615384578704834, 1.0744435787200928 ]
[ -3.0005455017089844, 19.932857513427734, 3.301673412322998, 43.55670166015625, 4.713064670562744, 8.07584285736084 ]
7.6
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0
76
0
[ -3.096984624862671, 22.445629119873047, 2.5733635425567627, 37.84505844116211, 4.615384578704834, 1.0744435787200928 ]
[ -3.0005455017089844, 21.611413955688477, 3.3921303749084473, 42.783504486083984, 4.713064670562744, 8.07584285736084 ]
7.7
77
0
77
0
[ -3.096984624862671, 23.59458351135254, 2.5733635425567627, 37.57791519165039, 4.615384578704834, 1.0744435787200928 ]
[ -3.0005455017089844, 23.122114181518555, 3.3921303749084473, 40.721649169921875, 4.713064670562744, 8.07584285736084 ]
7.8
78
0
78
0
[ -3.096984624862671, 24.661468505859375, 2.5733635425567627, 37.488868713378906, 4.615384578704834, 1.0744435787200928 ]
[ -3.0005455017089844, 24.297103881835938, 3.301673412322998, 39.34708023071289, 4.713064670562744, 8.07584285736084 ]
7.9
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0
79
0
[ -3.096984624862671, 25.564218521118164, 2.3927764892578125, 37.39982223510742, 4.810744762420654, 1.1511895656585693 ]
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8
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0
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[ -3.096984624862671, 25.974559783935547, 2.3927764892578125, 37.39982223510742, 4.9572649002075195, 4.7582502365112305 ]
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8.1
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0
81
0
[ -3.259983777999878, 25.974559783935547, 2.5733635425567627, 37.39982223510742, 5.006104946136475, 13.891020774841309 ]
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8.2
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0
82
0
[ -3.1784842014312744, 25.646286010742188, 2.6636569499969482, 37.488868713378906, 5.006104946136475, 22.40982437133789 ]
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8.3
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0
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0
[ -2.9339852333068848, 25.400081634521484, 2.6636569499969482, 37.488868713378906, 5.006104946136475, 26.016883850097656 ]
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8.4
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0
84
0
[ -2.1189894676208496, 25.15387725830078, 2.483069896697998, 37.488868713378906, 4.664224624633789, 26.093629837036133 ]
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8.5
85
0
85
0
[ -1.8744906187057495, 21.871152877807617, 1.4898419380187988, 37.39982223510742, 4.615384578704834, 26.093629837036133 ]
[ -2.891434907913208, 26.647083282470703, 3.301673412322998, 38.23023986816406, 4.9084248542785645, 25.07022476196289 ]
8.6
86
0
86
0
[ -1.3854930400848389, 16.208452224731445, 1.3995485305786133, 37.39982223510742, 4.615384578704834, 26.093629837036133 ]
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8.7
87
0
87
0
[ -0.16299918293952942, 10.381616592407227, 1.3995485305786133, 37.39982223510742, 4.615384578704834, 26.093629837036133 ]
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8.8
88
0
88
0
[ 2.1189894676208496, 3.569962978363037, 2.2121896743774414, 37.39982223510742, 4.615384578704834, 26.093629837036133 ]
[ -1.6912165880203247, 17.918590545654297, 3.3921303749084473, 38.23023986816406, 4.713064670562744, 25.772472381591797 ]
8.9
89
0
89
0
[ 5.949470043182373, -3.569962978363037, 3.8374717235565186, 37.39982223510742, 4.615384578704834, 26.093629837036133 ]
[ 0.27277687191963196, 11.959714889526367, 3.3921303749084473, 38.23023986816406, 4.713064670562744, 25.772472381591797 ]
9
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0
90
0
[ 10.839446067810059, -9.31473159790039, 6.546275615692139, 37.39982223510742, 4.615384578704834, 26.093629837036133 ]
[ 3.2187671661376953, 4.406210422515869, 4.206241607666016, 38.23023986816406, 4.713064670562744, 25.772472381591797 ]
9.1
91
0
91
0
[ 15.484922409057617, -13.500205039978027, 10.699774742126465, 37.39982223510742, 4.810744762420654, 26.093629837036133 ]
[ 7.474086284637451, -2.3919429779052734, 6.196291446685791, 38.23023986816406, 4.713064670562744, 25.772472381591797 ]
9.2
92
0
92
0
[ 20.37489891052246, -17.193269729614258, 16.207674026489258, 37.39982223510742, 4.859584808349609, 26.093629837036133 ]
[ 12.165848731994629, -8.099035263061523, 9.362279891967773, 38.23023986816406, 4.713064670562744, 25.772472381591797 ]
9.3
93
0
93
0
[ 25.020374298095703, -19.409109115600586, 22.257335662841797, 37.39982223510742, 4.859584808349609, 26.093629837036133 ]
[ 16.748498916625977, -12.463281631469727, 13.794663429260254, 38.23023986816406, 4.713064670562744, 25.772472381591797 ]
9.4
94
0
94
0
[ 29.502853393554688, -21.789085388183594, 28.39729118347168, 37.39982223510742, 4.9572649002075195, 26.093629837036133 ]
[ 21.54937171936035, -15.820394515991211, 19.131614685058594, 38.23023986816406, 4.713064670562744, 25.772472381591797 ]
9.5
95
0
95
0
[ 33.74082946777344, -24.989742279052734, 34.53724670410156, 37.39982223510742, 4.9572649002075195, 26.093629837036133 ]
[ 26.35024642944336, -18.422157287597656, 25.37313461303711, 38.23023986816406, 4.713064670562744, 25.772472381591797 ]
9.6
96
0
96
0
[ 37.89731216430664, -28.10832977294922, 39.32279968261719, 37.39982223510742, 4.9572649002075195, 26.093629837036133 ]
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9.7
97
0
97
0
[ 41.15729522705078, -29.913827896118164, 40.8577880859375, 37.39982223510742, 4.9572649002075195, 26.093629837036133 ]
[ 34.86088562011719, -24.4649600982666, 37.31343460083008, 38.23023986816406, 4.713064670562744, 25.772472381591797 ]
9.8
98
0
98
0
[ 42.8687858581543, -29.175214767456055, 40.767494201660156, 37.39982223510742, 4.9572649002075195, 26.093629837036133 ]
[ 39.22531509399414, -26.98279571533203, 40.750789642333984, 38.23023986816406, 4.713064670562744, 25.772472381591797 ]
9.9
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Description

SO-101 real-robot teleoperation dataset for stacking red, green, and blue RGB blocks on the blue dish from bottom to top. The dataset contains 100 cleaned episodes recorded at 10 FPS with left wrist and top RGB camera views.

  • Homepage: [More Information Needed]
  • Paper: [More Information Needed]
  • License: apache-2.0

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "so_follower",
    "total_episodes": 100,
    "total_frames": 22522,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 10,
    "splits": {
        "train": "0:100"
    },
    "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.left_wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.top": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "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": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

[More Information Needed]
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