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Datasets:
ReubenLim
/
so101_tape_in_square

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so101
tape in square
Libraries:
Datasets
Dask
License:
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action
sequence
observation.state
sequence
timestamp
float32
0
49.8
frame_index
int64
0
1.49k
episode_index
int64
0
61
index
int64
0
51.3k
task_index
int64
0
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[ -36.298828125, 186.15234375, 179.912109375, 50.2734375, 81.298828125, 15.629420280456543 ]
2.4
72
0
72
0
[ -37.44140625, 183.33984375, 179.560546875, 48.1640625, 80.15625, 15.353371620178223 ]
[ -36.298828125, 185.625, 179.912109375, 50.2734375, 81.298828125, 15.629420280456543 ]
2.433333
73
0
73
0
[ -37.44140625, 182.548828125, 179.560546875, 47.63671875, 80.15625, 15.353371620178223 ]
[ -36.298828125, 185.009765625, 179.912109375, 50.2734375, 81.298828125, 15.629420280456543 ]
2.466667
74
0
74
0
[ -37.44140625, 181.845703125, 179.560546875, 47.197265625, 80.15625, 15.353371620178223 ]
[ -36.650390625, 184.306640625, 179.912109375, 50.2734375, 81.298828125, 15.629420280456543 ]
2.5
75
0
75
0
[ -37.44140625, 181.494140625, 179.560546875, 47.021484375, 80.15625, 15.353371620178223 ]
[ -36.9140625, 183.603515625, 179.912109375, 50.009765625, 81.298828125, 15.629420280456543 ]
2.533333
76
0
76
0
[ -37.44140625, 181.318359375, 179.560546875, 46.93359375, 80.15625, 15.353371620178223 ]
[ -37.177734375, 182.900390625, 179.912109375, 49.5703125, 81.298828125, 15.629420280456543 ]
2.566667
77
0
77
0
[ -37.44140625, 181.142578125, 179.560546875, 46.93359375, 80.15625, 15.353371620178223 ]
[ -37.353515625, 182.28515625, 179.912109375, 49.306640625, 81.298828125, 15.629420280456543 ]
2.6
78
0
78
0
[ -37.44140625, 180.87890625, 179.560546875, 46.93359375, 80.15625, 15.353371620178223 ]
[ -37.353515625, 181.845703125, 179.912109375, 49.130859375, 81.298828125, 15.629420280456543 ]
2.633333
79
0
79
0
[ -37.44140625, 180.703125, 179.560546875, 46.93359375, 80.15625, 15.353371620178223 ]
[ -37.353515625, 181.494140625, 179.912109375, 48.955078125, 81.298828125, 15.629420280456543 ]
2.666667
80
0
80
0
[ -37.44140625, 180.52734375, 179.560546875, 46.93359375, 80.15625, 15.353371620178223 ]
[ -37.177734375, 181.142578125, 179.912109375, 48.8671875, 81.298828125, 15.629420280456543 ]
2.7
81
0
81
0
[ -37.529296875, 180.3515625, 179.560546875, 46.845703125, 80.15625, 15.353371620178223 ]
[ -37.08984375, 180.87890625, 179.912109375, 48.8671875, 81.298828125, 15.629420280456543 ]
2.733333
82
0
82
0
[ -37.79296875, 180, 179.560546875, 46.7578125, 80.15625, 15.353371620178223 ]
[ -37.001953125, 180.615234375, 179.912109375, 48.8671875, 81.298828125, 15.629420280456543 ]
2.766667
83
0
83
0
[ -37.880859375, 179.296875, 179.560546875, 46.40625, 80.15625, 15.353371620178223 ]
[ -37.001953125, 180.439453125, 179.912109375, 48.8671875, 81.298828125, 15.629420280456543 ]
2.8
84
0
84
0
[ -37.96875, 178.505859375, 179.560546875, 45.966796875, 80.15625, 15.353371620178223 ]
[ -37.001953125, 180.17578125, 179.912109375, 48.8671875, 81.298828125, 15.629420280456543 ]
2.833333
85
0
85
0
[ -37.96875, 177.890625, 179.560546875, 45.615234375, 80.15625, 15.353371620178223 ]
[ -37.265625, 179.736328125, 179.912109375, 48.69140625, 81.298828125, 15.629420280456543 ]
2.866667
86
0
86
0
[ -37.96875, 177.5390625, 179.560546875, 45.3515625, 80.15625, 15.353371620178223 ]
[ -37.529296875, 179.208984375, 179.912109375, 48.251953125, 81.298828125, 15.629420280456543 ]
2.9
87
0
87
0
[ -37.96875, 177.5390625, 179.560546875, 45.263671875, 80.15625, 15.353371620178223 ]
[ -37.705078125, 178.59375, 179.912109375, 47.900390625, 81.298828125, 15.629420280456543 ]
2.933333
88
0
88
0
[ -37.96875, 177.5390625, 179.560546875, 45.263671875, 80.15625, 15.353371620178223 ]
[ -37.880859375, 178.154296875, 179.912109375, 47.63671875, 81.298828125, 15.629420280456543 ]
2.966667
89
0
89
0
[ -37.96875, 177.451171875, 179.560546875, 45.263671875, 80.15625, 15.353371620178223 ]
[ -37.880859375, 177.802734375, 179.912109375, 47.373046875, 81.298828125, 15.629420280456543 ]
3
90
0
90
0
[ -37.96875, 177.275390625, 179.560546875, 45.263671875, 80.15625, 15.353371620178223 ]
[ -37.880859375, 177.71484375, 179.912109375, 47.28515625, 81.298828125, 15.629420280456543 ]
3.033333
91
0
91
0
[ -37.96875, 177.1875, 179.560546875, 45.263671875, 80.15625, 15.353371620178223 ]
[ -37.705078125, 177.71484375, 179.912109375, 47.28515625, 81.298828125, 15.629420280456543 ]
3.066667
92
0
92
0
[ -37.96875, 177.099609375, 179.560546875, 45.263671875, 80.15625, 15.353371620178223 ]
[ -37.529296875, 177.626953125, 179.912109375, 47.28515625, 81.298828125, 15.629420280456543 ]
3.1
93
0
93
0
[ -38.056640625, 176.923828125, 179.560546875, 45.263671875, 80.15625, 15.353371620178223 ]
[ -37.529296875, 177.36328125, 179.912109375, 47.28515625, 81.298828125, 15.629420280456543 ]
3.133333
94
0
94
0
[ -38.056640625, 176.748046875, 179.560546875, 45.263671875, 80.15625, 15.353371620178223 ]
[ -37.529296875, 177.1875, 179.912109375, 47.28515625, 81.298828125, 15.629420280456543 ]
3.166667
95
0
95
0
[ -38.14453125, 176.66015625, 179.560546875, 45.17578125, 80.15625, 15.353371620178223 ]
[ -37.529296875, 177.01171875, 179.912109375, 47.28515625, 81.298828125, 15.629420280456543 ]
3.2
96
0
96
0
[ -38.14453125, 176.572265625, 179.560546875, 45.17578125, 80.15625, 15.353371620178223 ]
[ -37.529296875, 176.8359375, 179.912109375, 47.28515625, 81.298828125, 15.629420280456543 ]
3.233333
97
0
97
0
[ -38.3203125, 176.572265625, 179.560546875, 45.17578125, 80.15625, 15.353371620178223 ]
[ -37.529296875, 176.66015625, 179.912109375, 47.28515625, 81.298828125, 15.629420280456543 ]
3.266667
98
0
98
0
[ -38.408203125, 176.30859375, 179.560546875, 45, 80.15625, 15.353371620178223 ]
[ -37.529296875, 176.572265625, 179.912109375, 47.28515625, 81.298828125, 15.629420280456543 ]
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": 3,
    "total_frames": 2399,
    "total_tasks": 1,
    "total_videos": 6,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:3"
    },
    "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": [
                6
            ],
            "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.birdEye": {
            "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
            }
        },
        "observation.images.thirdPerson": {
            "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
            }
        },
        "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": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
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