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Datasets:
Oiki123
/
so101_pick_merged

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
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pandas
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listlengths
6
6
observation.state
listlengths
6
6
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float32
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19.9
frame_index
int64
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199
episode_index
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index
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23.2k
task_index
int64
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5.8
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5.9
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6
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[ 14.117647171020508, -98.65149688720703, 98.81710815429688, 44.64510726928711, 1.245421290397644, 55.23682403564453 ]
6.1
61
0
61
0
[ 13.816082000732422, -99.74906158447266, 99.72838592529297, 43.92523193359375, 1.0663199424743652, 65.4488525390625 ]
[ 14.117647171020508, -98.65149688720703, 98.81710815429688, 44.64510726928711, 1.245421290397644, 59.10607147216797 ]
6.2
62
0
62
0
[ 13.816082000732422, -99.74906158447266, 99.72838592529297, 43.92523193359375, 1.0663199424743652, 71.03340148925781 ]
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6.3
63
0
63
0
[ 13.90493106842041, -99.74906158447266, 99.72838592529297, 43.84027099609375, 1.0663199424743652, 72.33820343017578 ]
[ 14.117647171020508, -98.65149688720703, 98.81710815429688, 44.64510726928711, 1.245421290397644, 69.57971954345703 ]
6.4
64
0
64
0
[ 14.082630157470703, -99.74906158447266, 99.72838592529297, 43.92523193359375, 1.2743823528289795, 72.33820343017578 ]
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6.5
65
0
65
0
[ 14.882274627685547, -99.66541290283203, 99.63784790039062, 43.92523193359375, 1.7945383787155151, 72.33820343017578 ]
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6.6
66
0
66
0
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[ 14.43137264251709, -98.65149688720703, 98.81710815429688, 44.64510726928711, 1.78266179561615, 71.78118896484375 ]
6.7
67
0
67
0
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6.8
68
0
68
0
[ 12.394491195678711, -95.31576538085938, 99.81892395019531, 40.611724853515625, 3.8751626014709473, 72.33820343017578 ]
[ 13.254901885986328, -98.23008728027344, 98.81710815429688, 44.64510726928711, 3.5897436141967773, 71.78118896484375 ]
6.9
69
0
69
0
[ 10.972901344299316, -90.46424102783203, 99.90946197509766, 34.57944107055664, 3.7711312770843506, 72.33820343017578 ]
[ 12.86274528503418, -95.44879913330078, 98.90809631347656, 41.70516586303711, 3.6385836601257324, 71.78118896484375 ]
7
70
0
70
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[ 8.84051513671875, -85.02718353271484, 100, 29.90654182434082, 3.719115734100342, 72.33820343017578 ]
[ 11.13725471496582, -91.066162109375, 98.90809631347656, 36.49726867675781, 3.5897436141967773, 71.78118896484375 ]
7.1
71
0
71
0
[ 5.908484935760498, -79.7574234008789, 100, 26.847917556762695, 3.719115734100342, 72.33820343017578 ]
[ 9.176470756530762, -85.92498779296875, 98.90809631347656, 31.709365844726562, 3.5897436141967773, 71.78118896484375 ]
7.2
72
0
72
0
[ 2.4433584213256836, -75.24048614501953, 100, 25.318607330322266, 3.667100191116333, 72.33820343017578 ]
[ 6.43137264251709, -80.69953918457031, 98.90809631347656, 28.685426712036133, 3.5897436141967773, 71.78118896484375 ]
7.3
73
0
73
0
[ -0.39982229471206665, -70.63990020751953, 100, 23.364486694335938, 3.615084409713745, 72.33820343017578 ]
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7.4
74
0
74
0
[ -2.1768102645874023, -65.3701400756836, 100, 19.37128257751465, 2.314694404602051, 72.33820343017578 ]
[ 0.1568627506494522, -71.42857360839844, 98.90809631347656, 24.485509872436523, 3.492063522338867, 71.78118896484375 ]
7.5
75
0
75
0
[ -3.8649489879608154, -59.84943389892578, 99.54730987548828, 14.698386192321777, 2.210663080215454, 72.33820343017578 ]
[ -1.8039215803146362, -66.11883544921875, 98.90809631347656, 20.6215877532959, 2.612942695617676, 71.78118896484375 ]
7.6
76
0
76
0
[ -6.175033092498779, -53.07402801513672, 99.36622619628906, 9.600679397583008, 2.210663080215454, 72.33820343017578 ]
[ -3.6078431606292725, -60.640541076660156, 98.72611236572266, 16.169675827026367, 2.4175825119018555, 71.78118896484375 ]
7.7
77
0
77
0
[ -8.662817001342773, -46.21497344970703, 99.27568817138672, 3.4834325313568115, 2.210663080215454, 72.33820343017578 ]
[ -5.647058963775635, -55.330806732177734, 98.63512420654297, 11.96976089477539, 2.4175825119018555, 71.78118896484375 ]
7.8
78
0
78
0
[ -10.35095500946045, -39.104976654052734, 99.27568817138672, -4.078165054321289, 2.210663080215454, 72.33820343017578 ]
[ -8, -48.08259582519531, 98.63512420654297, 5.837883472442627, 2.4175825119018555, 71.78118896484375 ]
7.9
79
0
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0
[ -11.505997657775879, -32.747802734375, 98.91353607177734, -10.960067749023438, 2.1586475372314453, 72.33820343017578 ]
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8
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0
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8.1
81
0
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0
[ -12.394491195678711, -23.295692443847656, 98.822998046875, -22.93967628479004, 2.1586475372314453, 72.33820343017578 ]
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8.2
82
0
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[ -13.460683822631836, -18.44416618347168, 98.822998046875, -28.54715347290039, 2.1586475372314453, 72.33820343017578 ]
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8.3
83
0
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0
[ -13.460683822631836, -13.508992195129395, 98.822998046875, -34.494476318359375, 1.846553921699524, 72.33820343017578 ]
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8.4
84
0
84
0
[ -13.54953384399414, -8.57381820678711, 98.91353607177734, -40.35683822631836, 0.7542262673377991, 72.33820343017578 ]
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8.5
85
0
85
0
[ -14.704575538635254, -3.9732329845428467, 98.73246002197266, -45.11469650268555, 0.7542262673377991, 72.33820343017578 ]
[ -13.098039627075195, -9.144542694091797, 98.27115631103516, -38.1772346496582, 1.0500611066818237, 71.78118896484375 ]
8.6
86
0
86
0
[ -15.326521873474121, -0.12547051906585693, 97.91761016845703, -48.9379768371582, 0.7542262673377991, 72.33820343017578 ]
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8.7
87
0
87
0
[ -15.326521873474121, 3.805938959121704, 94.29605865478516, -49.87255859375, 0.7542262673377991, 72.33820343017578 ]
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8.8
88
0
88
0
[ -15.326521873474121, 8.239230155944824, 89.22589111328125, -49.87255859375, 0.7542262673377991, 72.33820343017578 ]
[ -14.901960372924805, 3.4976823329925537, 95.5414047241211, -48.08903884887695, 0.9035409092903137, 71.78118896484375 ]
8.9
89
0
89
0
[ -15.326521873474121, 13.592638969421387, 84.065185546875, -49.87255859375, 0.7542262673377991, 72.33820343017578 ]
[ -14.980392456054688, 8.048883438110352, 90.99181365966797, -48.42502975463867, 0.9035409092903137, 71.78118896484375 ]
9
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0
90
0
[ -15.41537094116211, 18.86240005493164, 79.26663970947266, -49.87255859375, 0.7542262673377991, 72.33820343017578 ]
[ -14.980392456054688, 13.190054893493652, 85.89627075195312, -48.42502975463867, 0.9035409092903137, 71.78118896484375 ]
9.1
91
0
91
0
[ -17.54775619506836, 24.550397872924805, 74.46808624267578, -49.95751953125, 0.7542262673377991, 72.33820343017578 ]
[ -15.058823585510254, 18.584070205688477, 81.07369995117188, -48.42502975463867, 0.9035409092903137, 71.78118896484375 ]
9.2
92
0
92
0
[ -19.502443313598633, 28.314512252807617, 71.11815643310547, -49.95751953125, 0.7542262673377991, 72.33820343017578 ]
[ -17.098039627075195, 23.8938045501709, 76.61510467529297, -48.42502975463867, 0.9035409092903137, 71.78118896484375 ]
9.3
93
0
93
0
[ -20.657485961914062, 31.242158889770508, 68.22091674804688, -50.04248046875, 0.7542262673377991, 72.33820343017578 ]
[ -18.980392456054688, 28.02359962463379, 72.88443756103516, -48.42502975463867, 0.9035409092903137, 71.78118896484375 ]
9.4
94
0
94
0
[ -20.83518409729004, 34.08615493774414, 66.68175506591797, -52.84621810913086, 0.7022106647491455, 72.33820343017578 ]
[ -20.156862258911133, 31.394859313964844, 69.79071807861328, -48.84502410888672, 0.9035409092903137, 71.78118896484375 ]
9.5
95
0
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0
[ -20.83518409729004, 37.59933090209961, 64.68990325927734, -55.989803314208984, 0.7022106647491455, 72.2860107421875 ]
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9.6
96
0
96
0
[ -20.83518409729004, 41.530738830566406, 60.61566162109375, -56.83942413330078, 0.7022106647491455, 72.2860107421875 ]
[ -20.39215660095215, 37.715972900390625, 65.60509490966797, -54.4729118347168, 0.9035409092903137, 71.78118896484375 ]
9.7
97
0
97
0
[ -20.39093780517578, 45.71308898925781, 55.81711196899414, -56.92438507080078, 0.7542262673377991, 72.2860107421875 ]
[ -20.47058868408203, 41.67720031738281, 62.05641555786133, -55.31289291381836, 0.9035409092903137, 71.78118896484375 ]
9.8
98
0
98
0
[ -20.302087783813477, 49.56085205078125, 50.92802047729492, -56.92438507080078, 0.8062418699264526, 72.2860107421875 ]
[ -20.47058868408203, 45.89127731323242, 57.14285659790039, -55.480892181396484, 0.9035409092903137, 71.78118896484375 ]
9.9
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "so_follower",
    "total_episodes": 116,
    "total_frames": 23197,
    "total_tasks": 4,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 10,
    "splits": {
        "train": "0:116"
    },
    "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
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        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
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        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                480,
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            "names": [
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            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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        "observation.images.front": {
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            "names": [
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            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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        "timestamp": {
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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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            "names": null
        }
    }
}

Citation

BibTeX:

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Downloads last month
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License:
apache-2.0
Size of downloaded dataset files:
569 kB
Size of the auto-converted Parquet files:
569 kB
Number of rows:
23,197

Models trained or fine-tuned on Oiki123/so101_pick_merged