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Datasets:
anvilbot-patrickhhh
/
SO101_PickAndPlace_3cams

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Libraries:
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float32
0
14.9
frame_index
int64
0
149
episode_index
int64
0
49
index
int64
0
7.5k
task_index
int64
0
0
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0.1
1
0
1
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0.2
2
0
2
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0.3
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0
3
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0.4
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0
4
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0.5
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0
5
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0.6
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0.7
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0
7
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0.8
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0
8
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0.9
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0
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1
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1.1
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0
11
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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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15
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1.6
16
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16
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1.7
17
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17
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1.8
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18
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1.9
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19
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2
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20
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2.1
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21
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2.2
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2.3
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23
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2.4
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24
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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
51
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51
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5.2
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5.3
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53
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5.4
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5.5
55
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5.6
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0
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[ -1.7125837802886963, -99.57894897460938, 68.1899642944336, 88.72277069091797, -44.800418853759766, 2.3936169147491455 ]
5.7
57
0
57
0
[ -1.3503376245498657, -99.4120101928711, 61.078651428222656, 83.95220184326172, -40.71541213989258, 10.091047286987305 ]
[ -1.9359642267227173, -99.57894897460938, 66.30824279785156, 88.72277069091797, -44.275211334228516, 3.590425491333008 ]
5.8
58
0
58
0
[ -1.3503376245498657, -99.32801055908203, 60, 80.11096954345703, -38.400840759277344, 10.015174865722656 ]
[ -1.7870439291000366, -99.57894897460938, 65.14337158203125, 87.27040100097656, -42.804622650146484, 7.114361763000488 ]
5.9
59
0
59
0
[ -1.3503376245498657, -98.74002838134766, 60.35955047607422, 77.46479034423828, -36.34928894042969, 10.091047286987305 ]
[ -1.638123631477356, -99.57894897460938, 64.247314453125, 84.1093521118164, -40.28361511230469, 8.97606372833252 ]
6
60
0
60
0
[ -1.6504125595092773, -96.05207824707031, 60.449440002441406, 77.2940673828125, -36.34928894042969, 10.470409393310547 ]
[ -1.5636634826660156, -99.41053009033203, 63.88888931274414, 80.94831085205078, -38.025211334228516, 9.574467658996582 ]
6.1
61
0
61
0
[ -1.6504125595092773, -93.28013610839844, 59.46067428588867, 76.86726379394531, -37.559181213378906, 10.546281814575195 ]
[ -1.5636634826660156, -97.97895050048828, 63.88888931274414, 79.23963928222656, -36.81722640991211, 9.973403930664062 ]
6.2
62
0
62
0
[ -1.9504876136779785, -88.40823364257812, 55.59550476074219, 76.86726379394531, -40.873226165771484, 10.394536972045898 ]
[ -1.5636634826660156, -96.04210662841797, 63.26165008544922, 78.5561752319336, -37.132354736328125, 10.03989315032959 ]
6.3
63
0
63
0
[ -2.0255062580108643, -79.08441925048828, 50.202247619628906, 76.86726379394531, -44.87112045288086, 10.242792129516602 ]
[ -1.7870439291000366, -92.92631530761719, 61.648746490478516, 78.47074127197266, -38.550418853759766, 10.03989315032959 ]
6.4
64
0
64
0
[ -3.225806474685669, -67.4926528930664, 43.011234283447266, 77.9769515991211, -48.0273551940918, 10.394536972045898 ]
[ -1.9359642267227173, -88.54737091064453, 58.42293930053711, 78.47074127197266, -41.33403396606445, 10.03989315032959 ]
6.5
65
0
65
0
[ -6.676669120788574, -57.07685852050781, 35.10112380981445, 79.08663940429688, -50.92056655883789, 10.470409393310547 ]
[ -2.5316455364227295, -79.19999694824219, 53.136199951171875, 78.47074127197266, -45.01050567626953, 10.03989315032959 ]
6.6
66
0
66
0
[ -9.677419662475586, -47.83704376220703, 28.17977523803711, 79.17200469970703, -54.23461151123047, 10.166919708251953 ]
[ -4.244229316711426, -68.33684539794922, 46.863800048828125, 79.06877136230469, -48.161766052246094, 10.03989315032959 ]
6.7
67
0
67
0
[ -12.603150367736816, -39.689205169677734, 23.685392379760742, 78.57447814941406, -58.33771514892578, 10.015174865722656 ]
[ -7.743856906890869, -56.968421936035156, 38.978492736816406, 79.15420532226562, -51.155460357666016, 10.03989315032959 ]
6.8
68
0
68
0
[ -14.778695106506348, -33.30533218383789, 21.258426666259766, 77.72087097167969, -62.33561325073242, 10.091047286987305 ]
[ -9.977662086486816, -48.12631607055664, 32.974910736083984, 79.15420532226562, -54.411766052246094, 10.03989315032959 ]
6.9
69
0
69
0
[ -16.429107666015625, -29.4414119720459, 21.52808952331543, 74.47716522216797, -66.17569732666016, 10.394536972045898 ]
[ -13.40282917022705, -39.20000076293945, 28.315412521362305, 79.06877136230469, -58.71848678588867, 10.03989315032959 ]
7
70
0
70
0
[ -16.729183197021484, -26.333473205566406, 22.606740951538086, 70.29449462890625, -67.54339599609375, 10.470409393310547 ]
[ -14.966492652893066, -32.547367095947266, 26.97132682800293, 77.36009979248047, -62.447479248046875, 10.03989315032959 ]
7.1
71
0
71
0
[ -16.504125595092773, -24.149517059326172, 25.213483810424805, 64.40460968017578, -67.59600067138672, 10.470409393310547 ]
[ -16.604616165161133, -27.915788650512695, 26.7921142578125, 74.28449249267578, -65.80882263183594, 10.03989315032959 ]
7.2
72
0
72
0
[ -16.354087829589844, -22.38555145263672, 28, 59.02688980102539, -67.59600067138672, 10.470409393310547 ]
[ -16.157855987548828, -24.63157844543457, 26.8817195892334, 70.09825134277344, -67.06932830810547, 10.03989315032959 ]
7.3
73
0
73
0
[ -16.279069900512695, -21.629568099975586, 30.51685333251953, 54.9295768737793, -67.54339599609375, 10.470409393310547 ]
[ -16.753536224365234, -22.526315689086914, 28.315412521362305, 64.8013687133789, -67.43697357177734, 10.03989315032959 ]
7.4
74
0
74
0
[ -16.204050064086914, -21.545568466186523, 33.30337142944336, 51.173709869384766, -67.38558959960938, 10.470409393310547 ]
[ -16.381235122680664, -21.17894744873047, 30.913978576660156, 59.58992004394531, -67.48949432373047, 10.03989315032959 ]
7.5
75
0
75
0
[ -16.129032135009766, -21.545568466186523, 36.808990478515625, 47.16175842285156, -67.54339599609375, 10.470409393310547 ]
[ -16.753536224365234, -21.010526657104492, 33.51254653930664, 55.318241119384766, -67.48949432373047, 10.03989315032959 ]
7.6
76
0
76
0
[ -15.303826332092285, -21.545568466186523, 41.30337142944336, 41.78403854370117, -67.54339599609375, 10.470409393310547 ]
[ -16.604616165161133, -20.842105865478516, 36.290321350097656, 51.302860260009766, -67.48949432373047, 10.03989315032959 ]
7.7
77
0
77
0
[ -14.628657341003418, -21.461570739746094, 45.70786666870117, 36.5770378112793, -67.54339599609375, 10.470409393310547 ]
[ -16.381235122680664, -20.842105865478516, 39.87455368041992, 47.202049255371094, -67.48949432373047, 10.03989315032959 ]
7.8
78
0
78
0
[ -13.728431701660156, -21.461570739746094, 48.674156188964844, 33.58941650390625, -67.28038024902344, 10.470409393310547 ]
[ -15.487713813781738, -20.842105865478516, 44.44444274902344, 42.07603454589844, -67.48949432373047, 10.03989315032959 ]
7.9
79
0
79
0
[ -13.428357124328613, -19.949600219726562, 48.494380950927734, 34.272300720214844, -67.12256622314453, 10.546281814575195 ]
[ -14.668652534484863, -20.842105865478516, 48.47670364379883, 37.37718963623047, -67.48949432373047, 10.03989315032959 ]
8
80
0
80
0
[ -13.12828254699707, -16.67366600036621, 47.05617904663086, 35.12590789794922, -66.22830200195312, 10.546281814575195 ]
[ -13.998510360717773, -19.74736785888672, 49.462364196777344, 35.839385986328125, -67.27941131591797, 10.03989315032959 ]
8.1
81
0
81
0
[ -13.278319358825684, -11.801763534545898, 41.57303237915039, 39.735382080078125, -65.54444885253906, 10.62215518951416 ]
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8.2
82
0
82
0
[ -13.503376007080078, -5.417891502380371, 33.03370666503906, 46.99103546142578, -65.07101440429688, 10.62215518951416 ]
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8.3
83
0
83
0
[ -13.653413772583008, 0.3779924511909485, 24.224720001220703, 53.819889068603516, -65.07101440429688, 10.546281814575195 ]
[ -13.70067024230957, -9.221052169799805, 44.982078552246094, 41.13626480102539, -65.33613586425781, 10.03989315032959 ]
8.4
84
0
84
0
[ -14.403600692749023, 3.8219234943389893, 17.30337142944336, 58.51472473144531, -65.38663482666016, 10.546281814575195 ]
[ -13.70067024230957, -2.3157894611358643, 36.73834991455078, 48.22725296020508, -65.17857360839844, 10.03989315032959 ]
8.5
85
0
85
0
[ -15.07876968383789, 4.241915225982666, 13.797752380371094, 60.47801971435547, -65.75486755371094, 10.546281814575195 ]
[ -14.07297134399414, 2.989473581314087, 29.480287551879883, 54.207603454589844, -65.17857360839844, 10.03989315032959 ]
8.6
86
0
86
0
[ -16.204050064086914, 4.325913429260254, 12.539325714111328, 60.13657760620117, -67.54339599609375, 10.546281814575195 ]
[ -14.892032623291016, 5.431579113006592, 23.02867317199707, 58.56471633911133, -65.38865661621094, 10.03989315032959 ]
8.7
87
0
87
0
[ -16.804201126098633, 4.9139018058776855, 11.280899047851562, 60.30729675292969, -68.5428695678711, 10.546281814575195 ]
[ -15.487713813781738, 5.51578950881958, 19.086021423339844, 59.76078414916992, -66.54412078857422, 10.03989315032959 ]
8.8
88
0
88
0
[ -17.62940788269043, 4.9139018058776855, 10.292135238647461, 60.56338119506836, -69.80536651611328, 10.546281814575195 ]
[ -16.6790771484375, 5.93684196472168, 16.935483932495117, 60.18795394897461, -67.85713958740234, 10.03989315032959 ]
8.9
89
0
89
0
[ -18.154539108276367, 4.9139018058776855, 10.112360000610352, 60.56338119506836, -70.75223541259766, 10.546281814575195 ]
[ -16.753536224365234, 6.3578948974609375, 15.770608901977539, 60.18795394897461, -69.06512451171875, 10.03989315032959 ]
9
90
0
90
0
[ -18.604650497436523, 4.997900009155273, 10.112360000610352, 60.30729675292969, -71.751708984375, 10.546281814575195 ]
[ -18.093820571899414, 6.3578948974609375, 15.501791954040527, 60.18795394897461, -70.1680679321289, 10.03989315032959 ]
9.1
91
0
91
0
[ -18.529632568359375, 5.081898212432861, 10.112360000610352, 60.39265823364258, -71.9095230102539, 10.546281814575195 ]
[ -18.615041732788086, 6.3578948974609375, 15.501791954040527, 60.18795394897461, -71.16596984863281, 10.03989315032959 ]
9.2
92
0
92
0
[ -18.304576873779297, 5.081898212432861, 10.112360000610352, 60.47801971435547, -71.96212768554688, 10.546281814575195 ]
[ -18.615041732788086, 6.526315689086914, 15.501791954040527, 60.18795394897461, -71.63865661621094, 10.03989315032959 ]
9.3
93
0
93
0
[ -18.304576873779297, 4.997900009155273, 10.112360000610352, 60.56338119506836, -73.01420593261719, 10.62215518951416 ]
[ -18.615041732788086, 6.526315689086914, 15.501791954040527, 60.18795394897461, -71.74369812011719, 10.03989315032959 ]
9.4
94
0
94
0
[ -18.304576873779297, 4.997900009155273, 10.561798095703125, 60.56338119506836, -73.01420593261719, 12.443095207214355 ]
[ -18.615041732788086, 6.526315689086914, 15.501791954040527, 60.18795394897461, -72.37394714355469, 10.03989315032959 ]
9.5
95
0
95
0
[ -18.304576873779297, 5.081898212432861, 10.921348571777344, 60.47801971435547, -73.06681060791016, 22.534143447875977 ]
[ -18.615041732788086, 6.526315689086914, 15.501791954040527, 60.18795394897461, -72.79412078857422, 11.103723526000977 ]
9.6
96
0
96
0
[ -18.379594802856445, 5.165896892547607, 11.011236190795898, 59.880496978759766, -73.06681060791016, 33.383914947509766 ]
[ -18.615041732788086, 6.526315689086914, 15.501791954040527, 60.18795394897461, -72.9516830444336, 13.630319595336914 ]
9.7
97
0
97
0
[ -18.454612731933594, 5.165896892547607, 11.011236190795898, 59.795135498046875, -73.06681060791016, 41.1229133605957 ]
[ -18.615041732788086, 6.526315689086914, 15.501791954040527, 60.18795394897461, -73.00420379638672, 22.539894104003906 ]
9.8
98
0
98
0
[ -18.529632568359375, 5.249895095825195, 11.011236190795898, 59.795135498046875, -73.06681060791016, 45.523521423339844 ]
[ -18.615041732788086, 6.526315689086914, 15.501791954040527, 60.18795394897461, -73.00420379638672, 32.180850982666016 ]
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": "v2.1",
    "robot_type": "so101_follower",
    "total_episodes": 50,
    "total_frames": 7500,
    "total_tasks": 1,
    "total_videos": 150,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:50"
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    "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": {
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            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
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        "observation.state": {
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            "names": [
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                "elbow_flex.pos",
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        "observation.images.wrist": {
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        "observation.images.front": {
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        "timestamp": {
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        "frame_index": {
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        "index": {
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        "task_index": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
apache-2.0
Number of rows:
7,500
Total file size:
325 MB

Models trained or fine-tuned on anvilbot-patrickhhh/SO101_PickAndPlace_3cams