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Datasets:
ZavierZzzz
/
so101_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so101
tutorial
Libraries:
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Dask
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xet
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1
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action
sequence
observation.state
sequence
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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[ 43.76953125, 96.416015625, 72.421875, 92.021484375, -84.462890625, 9.913168907165527 ]
2.4
72
0
72
0
[ 43.9453125, 98.0859375, 69.873046875, 91.58203125, -84.375, 9.826589584350586 ]
[ 43.76953125, 96.416015625, 72.421875, 92.021484375, -84.462890625, 9.913168907165527 ]
2.433333
73
0
73
0
[ 43.9453125, 98.26171875, 69.873046875, 91.58203125, -84.462890625, 9.826589584350586 ]
[ 43.76953125, 96.416015625, 72.421875, 92.021484375, -84.462890625, 9.913168907165527 ]
2.466667
74
0
74
0
[ 43.9453125, 98.4375, 69.873046875, 91.58203125, -84.55078125, 9.826589584350586 ]
[ 43.76953125, 96.416015625, 72.421875, 92.021484375, -84.462890625, 9.913168907165527 ]
2.5
75
0
75
0
[ 43.9453125, 98.61328125, 69.873046875, 91.58203125, -84.55078125, 9.826589584350586 ]
[ 43.76953125, 96.416015625, 72.421875, 92.021484375, -84.462890625, 9.913168907165527 ]
2.533333
76
0
76
0
[ 43.9453125, 98.876953125, 69.873046875, 91.58203125, -84.55078125, 9.826589584350586 ]
[ 43.76953125, 96.416015625, 72.421875, 92.021484375, -84.462890625, 9.913168907165527 ]
2.566667
77
0
77
0
[ 43.9453125, 99.140625, 69.873046875, 91.58203125, -84.55078125, 9.826589584350586 ]
[ 43.76953125, 96.416015625, 72.421875, 92.021484375, -84.462890625, 9.913168907165527 ]
2.6
78
0
78
0
[ 43.9453125, 99.4921875, 69.873046875, 91.58203125, -84.55078125, 9.826589584350586 ]
[ 43.76953125, 96.416015625, 72.421875, 92.021484375, -84.462890625, 9.913168907165527 ]
2.633333
79
0
79
0
[ 43.9453125, 99.755859375, 69.873046875, 91.58203125, -84.638671875, 9.730250358581543 ]
[ 43.76953125, 96.50390625, 72.421875, 92.021484375, -84.462890625, 9.913168907165527 ]
2.666667
80
0
80
0
[ 43.9453125, 100.01953125, 69.873046875, 91.58203125, -84.7265625, 9.730250358581543 ]
[ 43.76953125, 96.591796875, 72.421875, 92.021484375, -84.462890625, 9.913168907165527 ]
2.7
81
0
81
0
[ 43.9453125, 100.458984375, 69.873046875, 91.58203125, -84.7265625, 9.6339111328125 ]
[ 43.76953125, 96.767578125, 72.421875, 92.021484375, -84.462890625, 9.913168907165527 ]
2.733333
82
0
82
0
[ 43.9453125, 100.810546875, 69.873046875, 91.58203125, -84.7265625, 8.477842330932617 ]
[ 43.76953125, 97.119140625, 72.421875, 92.021484375, -84.462890625, 9.913168907165527 ]
2.766667
83
0
83
0
[ 43.9453125, 101.07421875, 69.873046875, 91.58203125, -84.7265625, 6.840076923370361 ]
[ 43.76953125, 97.470703125, 72.421875, 92.021484375, -84.462890625, 9.913168907165527 ]
2.8
84
0
84
0
[ 43.76953125, 101.513671875, 69.873046875, 91.58203125, -84.462890625, 4.81695556640625 ]
[ 43.76953125, 97.822265625, 72.421875, 92.021484375, -84.462890625, 9.551374435424805 ]
2.833333
85
0
85
0
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[ 43.76953125, 98.173828125, 72.421875, 92.021484375, -84.462890625, 8.24891471862793 ]
2.866667
86
0
86
0
[ 43.681640625, 102.12890625, 70.048828125, 91.58203125, -84.287109375, 0.38535645604133606 ]
[ 43.76953125, 98.61328125, 72.421875, 92.021484375, -84.462890625, 6.801736831665039 ]
2.9
87
0
87
0
[ 43.59375, 102.392578125, 70.3125, 91.58203125, -84.19921875, 0.09633911401033401 ]
[ 43.41796875, 98.876953125, 72.421875, 92.021484375, -84.990234375, 5.35455846786499 ]
2.933333
88
0
88
0
[ 43.59375, 102.65625, 70.48828125, 91.58203125, -84.19921875, 0.09633911401033401 ]
[ 43.06640625, 99.052734375, 72.421875, 92.021484375, -84.814453125, 3.835021734237671 ]
2.966667
89
0
89
0
[ 43.59375, 102.744140625, 70.576171875, 91.58203125, -84.19921875, 0.09633911401033401 ]
[ 42.890625, 99.228515625, 72.421875, 92.021484375, -84.7265625, 2.8943560123443604 ]
3
90
0
90
0
[ 43.59375, 102.83203125, 70.751953125, 91.58203125, -84.19921875, 0.09633911401033401 ]
[ 42.890625, 99.404296875, 72.421875, 92.021484375, -84.7265625, 2.5325615406036377 ]
3.033333
91
0
91
0
[ 43.59375, 102.919921875, 70.927734375, 91.58203125, -84.19921875, 0.09633911401033401 ]
[ 42.978515625, 99.4921875, 72.421875, 92.021484375, -84.7265625, 2.3154847621917725 ]
3.066667
92
0
92
0
[ 43.505859375, 102.919921875, 70.927734375, 91.58203125, -84.19921875, 0.09633911401033401 ]
[ 42.978515625, 99.4921875, 72.421875, 92.021484375, -84.7265625, 2.2431259155273438 ]
3.1
93
0
93
0
[ 43.505859375, 102.83203125, 70.927734375, 91.58203125, -84.19921875, 0.09633911401033401 ]
[ 42.978515625, 99.4921875, 72.421875, 92.021484375, -84.7265625, 2.0984082221984863 ]
3.133333
94
0
94
0
[ 43.505859375, 102.83203125, 70.927734375, 91.58203125, -84.111328125, 0.09633911401033401 ]
[ 42.978515625, 99.4921875, 72.421875, 92.021484375, -84.7265625, 2.0984082221984863 ]
3.166667
95
0
95
0
[ 43.505859375, 102.83203125, 70.927734375, 91.58203125, -83.84765625, 0.09633911401033401 ]
[ 42.978515625, 99.4921875, 72.421875, 92.021484375, -84.7265625, 2.0984082221984863 ]
3.2
96
0
96
0
[ 43.505859375, 102.919921875, 70.83984375, 91.58203125, -83.408203125, 0.09633911401033401 ]
[ 42.978515625, 99.580078125, 72.421875, 92.021484375, -84.638671875, 2.0984082221984863 ]
3.233333
97
0
97
0
[ 43.59375, 103.18359375, 70.751953125, 91.58203125, -83.056640625, 0.09633911401033401 ]
[ 42.978515625, 99.580078125, 72.421875, 92.021484375, -84.375, 2.0984082221984863 ]
3.266667
98
0
98
0
[ 43.681640625, 103.623046875, 70.751953125, 91.58203125, -82.79296875, 0.09633911401033401 ]
[ 42.978515625, 99.580078125, 72.421875, 92.021484375, -84.111328125, 2.0984082221984863 ]
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": 1790,
    "total_tasks": 1,
    "total_videos": 2,
    "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
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            "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": [
                "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
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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