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Datasets:
RaulSaya
/
so101_test5

Tasks:
Robotics
Modalities:
Tabular
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Size:
1K - 10K
Tags:
LeRobot
so101
tutorial
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observation.state
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float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
[ 18.28125, 106.69921875, 131.396484375, 3.955078125, 90.439453125, 33.20281982421875 ]
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0
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[ 22.060546875, 92.900390625, 139.921875, 5.009765625, 90.17578125, 10.070422172546387 ]
2.466667
74
0
74
0
[ 21.97265625, 100.634765625, 138.69140625, 4.306640625, 90.439453125, -0.15661707520484924 ]
[ 22.060546875, 92.900390625, 139.921875, 5.009765625, 90.17578125, 10.070422172546387 ]
2.5
75
0
75
0
[ 21.97265625, 102.3046875, 138.69140625, 4.306640625, 90.439453125, -0.15661707520484924 ]
[ 22.060546875, 92.900390625, 139.921875, 5.009765625, 90.263671875, 10.070422172546387 ]
2.533333
76
0
76
0
[ 21.884765625, 103.974609375, 138.69140625, 4.39453125, 90.439453125, -0.15661707520484924 ]
[ 22.060546875, 93.515625, 139.921875, 5.009765625, 90.263671875, 10.070422172546387 ]
2.566667
77
0
77
0
[ 21.884765625, 105.556640625, 138.69140625, 4.39453125, 90.439453125, -0.15661707520484924 ]
[ 22.060546875, 94.658203125, 139.921875, 5.009765625, 90.263671875, 10.070422172546387 ]
2.6
78
0
78
0
[ 21.884765625, 107.2265625, 138.779296875, 4.39453125, 90.52734375, -0.15661707520484924 ]
[ 22.060546875, 96.328125, 139.921875, 5.009765625, 90.263671875, 10.070422172546387 ]
2.633333
79
0
79
0
[ 21.884765625, 108.6328125, 138.8671875, 4.39453125, 90.52734375, -0.15661707520484924 ]
[ 22.060546875, 97.998046875, 139.921875, 5.009765625, 90.263671875, 10.070422172546387 ]
2.666667
80
0
80
0
[ 21.884765625, 110.126953125, 138.8671875, 4.39453125, 90.52734375, -0.15661707520484924 ]
[ 22.060546875, 99.580078125, 139.921875, 5.009765625, 90.263671875, 10.070422172546387 ]
2.7
81
0
81
0
[ 21.884765625, 111.62109375, 138.8671875, 4.39453125, 90.52734375, -0.15661707520484924 ]
[ 22.060546875, 101.07421875, 139.921875, 5.009765625, 90.263671875, 10.070422172546387 ]
2.733333
82
0
82
0
[ 21.884765625, 113.37890625, 138.955078125, 4.39453125, 90.52734375, -0.15661707520484924 ]
[ 22.060546875, 102.744140625, 139.921875, 5.009765625, 90.263671875, 10.070422172546387 ]
2.766667
83
0
83
0
[ 21.884765625, 114.873046875, 139.04296875, 4.39453125, 90.52734375, -0.15661707520484924 ]
[ 22.060546875, 104.150390625, 139.921875, 5.009765625, 90.263671875, 10.070422172546387 ]
2.8
84
0
84
0
[ 21.884765625, 116.630859375, 138.955078125, 4.39453125, 90.52734375, -0.15661707520484924 ]
[ 22.060546875, 105.908203125, 140.009765625, 5.009765625, 90.263671875, 10.070422172546387 ]
2.833333
85
0
85
0
[ 21.884765625, 118.388671875, 138.955078125, 4.39453125, 90.52734375, -0.15661707520484924 ]
[ 22.060546875, 107.578125, 140.185546875, 5.009765625, 90.263671875, 10.070422172546387 ]
2.866667
86
0
86
0
[ 21.884765625, 120.322265625, 138.8671875, 4.39453125, 90.52734375, -0.15661707520484924 ]
[ 22.060546875, 109.3359375, 140.2734375, 5.009765625, 90.263671875, 10.070422172546387 ]
2.9
87
0
87
0
[ 21.884765625, 121.728515625, 139.21875, 4.39453125, 90.52734375, -0.15661707520484924 ]
[ 22.060546875, 110.830078125, 140.537109375, 5.009765625, 90.263671875, 10.070422172546387 ]
2.933333
88
0
88
0
[ 21.884765625, 123.046875, 139.39453125, 4.39453125, 90.52734375, -0.15661707520484924 ]
[ 22.060546875, 112.763671875, 140.625, 5.009765625, 90.263671875, 10.070422172546387 ]
2.966667
89
0
89
0
[ 21.884765625, 124.1015625, 139.39453125, 4.482421875, 90.52734375, -0.15661707520484924 ]
[ 22.060546875, 114.697265625, 140.712890625, 5.009765625, 90.263671875, 10.070422172546387 ]
3
90
0
90
0
[ 21.796875, 124.98046875, 139.306640625, 4.482421875, 90.52734375, -0.15661707520484924 ]
[ 22.060546875, 116.19140625, 140.888671875, 5.009765625, 90.263671875, 10.070422172546387 ]
3.033333
91
0
91
0
[ 21.26953125, 125.68359375, 139.306640625, 4.482421875, 90.52734375, -0.15661707520484924 ]
[ 22.060546875, 117.509765625, 140.888671875, 5.009765625, 90.263671875, 10.070422172546387 ]
3.066667
92
0
92
0
[ 20.126953125, 126.2109375, 139.306640625, 4.482421875, 90.52734375, -0.15661707520484924 ]
[ 22.060546875, 118.65234375, 140.888671875, 5.009765625, 90.263671875, 10.070422172546387 ]
3.1
93
0
93
0
[ 18.984375, 126.650390625, 139.306640625, 4.482421875, 90.52734375, -0.15661707520484924 ]
[ 22.060546875, 119.53125, 140.888671875, 5.009765625, 90.263671875, 10.070422172546387 ]
3.133333
94
0
94
0
[ 17.314453125, 127.08984375, 139.306640625, 4.482421875, 90.52734375, -0.15661707520484924 ]
[ 21.4453125, 120.41015625, 140.888671875, 5.009765625, 90.263671875, 10.070422172546387 ]
3.166667
95
0
95
0
[ 15.556640625, 127.705078125, 139.04296875, 4.482421875, 90.52734375, -0.15661707520484924 ]
[ 20.302734375, 121.11328125, 140.888671875, 5.009765625, 90.263671875, 10.070422172546387 ]
3.2
96
0
96
0
[ 13.53515625, 128.671875, 138.8671875, 4.482421875, 90.52734375, -0.15661707520484924 ]
[ 18.544921875, 121.81640625, 140.888671875, 5.009765625, 90.263671875, 10.070422172546387 ]
3.233333
97
0
97
0
[ 11.865234375, 129.55078125, 138.8671875, 4.482421875, 90.52734375, -0.15661707520484924 ]
[ 16.787109375, 122.431640625, 140.888671875, 5.009765625, 90.263671875, 10.070422172546387 ]
3.266667
98
0
98
0
[ 10.72265625, 130.341796875, 138.8671875, 4.482421875, 90.52734375, -0.15661707520484924 ]
[ 15.46875, 123.046875, 140.888671875, 5.009765625, 90.263671875, 10.070422172546387 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "so101",
    "total_episodes": 2,
    "total_frames": 1260,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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": {
            "dtype": "float32",
            "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": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.laptop": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
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                "width",
                "channels"
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            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.phone": {
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            "shape": [
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                640,
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            "names": [
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                "width",
                "channels"
            ],
            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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