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b-sky-lab
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act_so101_pick_white_02

Tasks:
Robotics
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Tabular
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Size:
1K - 10K
Tags:
LeRobot
so101
tutorial
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action
sequence
observation.state
sequence
timestamp
float32
0
25.6
frame_index
int64
0
768
episode_index
int64
0
9
index
int64
0
6.47k
task_index
int64
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[ -0.791015625, 90.703125, 114.521484375, 58.095703125, -88.06640625, 32.305057525634766 ]
2.366667
71
0
71
0
[ -0.966796875, 90.439453125, 110.91796875, 57.041015625, -88.505859375, 32.50215148925781 ]
[ -0.791015625, 90.439453125, 114.521484375, 58.095703125, -88.06640625, 32.305057525634766 ]
2.4
72
0
72
0
[ -0.966796875, 90.087890625, 110.91796875, 57.041015625, -88.505859375, 32.50215148925781 ]
[ -0.791015625, 90, 114.521484375, 58.095703125, -88.06640625, 32.305057525634766 ]
2.433333
73
0
73
0
[ -0.87890625, 89.82421875, 110.91796875, 57.041015625, -88.505859375, 32.50215148925781 ]
[ -0.791015625, 89.6484375, 114.521484375, 58.095703125, -88.06640625, 32.305057525634766 ]
2.466667
74
0
74
0
[ -0.791015625, 89.6484375, 110.91796875, 57.041015625, -88.505859375, 32.50215148925781 ]
[ -0.791015625, 89.296875, 114.521484375, 58.095703125, -88.06640625, 32.305057525634766 ]
2.5
75
0
75
0
[ -0.615234375, 89.560546875, 110.830078125, 57.041015625, -88.505859375, 32.50215148925781 ]
[ -0.791015625, 89.12109375, 114.521484375, 58.095703125, -88.06640625, 32.305057525634766 ]
2.533333
76
0
76
0
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[ -0.791015625, 88.9453125, 114.521484375, 58.095703125, -88.06640625, 32.305057525634766 ]
2.566667
77
0
77
0
[ -0.439453125, 89.560546875, 110.830078125, 57.041015625, -88.505859375, 32.50215148925781 ]
[ -0.791015625, 88.857421875, 114.521484375, 58.095703125, -88.06640625, 32.305057525634766 ]
2.6
78
0
78
0
[ -0.3515625, 89.560546875, 110.830078125, 57.041015625, -88.505859375, 32.50215148925781 ]
[ -0.791015625, 88.857421875, 114.521484375, 58.095703125, -88.06640625, 32.305057525634766 ]
2.633333
79
0
79
0
[ -0.263671875, 89.560546875, 110.830078125, 57.041015625, -88.505859375, 32.50215148925781 ]
[ -0.791015625, 88.857421875, 114.521484375, 58.095703125, -88.06640625, 32.305057525634766 ]
2.666667
80
0
80
0
[ -0.263671875, 89.560546875, 110.7421875, 56.953125, -88.505859375, 32.50215148925781 ]
[ -0.791015625, 88.857421875, 114.521484375, 58.095703125, -88.06640625, 32.305057525634766 ]
2.7
81
0
81
0
[ -0.263671875, 89.560546875, 110.478515625, 56.953125, -88.505859375, 32.50215148925781 ]
[ -0.791015625, 88.857421875, 114.521484375, 58.095703125, -88.06640625, 32.305057525634766 ]
2.733333
82
0
82
0
[ -0.263671875, 89.47265625, 109.951171875, 56.953125, -88.505859375, 32.50215148925781 ]
[ -0.791015625, 88.857421875, 114.521484375, 58.095703125, -88.06640625, 32.305057525634766 ]
2.766667
83
0
83
0
[ -0.263671875, 89.47265625, 109.423828125, 56.953125, -88.505859375, 32.50215148925781 ]
[ -0.791015625, 88.857421875, 114.2578125, 58.095703125, -88.06640625, 32.305057525634766 ]
2.8
84
0
84
0
[ -0.263671875, 89.384765625, 109.072265625, 56.953125, -88.505859375, 32.50215148925781 ]
[ -0.791015625, 88.857421875, 113.90625, 58.095703125, -88.06640625, 32.305057525634766 ]
2.833333
85
0
85
0
[ -0.263671875, 89.384765625, 108.896484375, 56.953125, -88.505859375, 32.50215148925781 ]
[ -0.791015625, 88.857421875, 113.37890625, 58.095703125, -88.06640625, 32.305057525634766 ]
2.866667
86
0
86
0
[ -0.263671875, 89.384765625, 108.896484375, 56.953125, -88.330078125, 32.50215148925781 ]
[ -0.791015625, 88.857421875, 112.939453125, 58.095703125, -88.06640625, 32.305057525634766 ]
2.9
87
0
87
0
[ -0.263671875, 89.384765625, 108.984375, 56.953125, -88.2421875, 32.50215148925781 ]
[ -0.791015625, 88.76953125, 112.5, 58.095703125, -88.06640625, 32.305057525634766 ]
2.933333
88
0
88
0
[ -0.263671875, 89.384765625, 108.984375, 56.953125, -88.2421875, 32.50215148925781 ]
[ -0.791015625, 88.76953125, 112.412109375, 58.095703125, -88.06640625, 32.305057525634766 ]
2.966667
89
0
89
0
[ -0.17578125, 89.384765625, 109.072265625, 56.953125, -88.2421875, 32.50215148925781 ]
[ -0.791015625, 88.76953125, 112.32421875, 58.095703125, -88.06640625, 32.305057525634766 ]
3
90
0
90
0
[ -0.17578125, 89.384765625, 109.072265625, 56.953125, -88.154296875, 32.50215148925781 ]
[ -0.791015625, 88.76953125, 112.32421875, 58.095703125, -88.06640625, 32.305057525634766 ]
3.033333
91
0
91
0
[ -0.17578125, 89.384765625, 109.072265625, 56.953125, -88.06640625, 32.50215148925781 ]
[ -0.791015625, 88.76953125, 112.32421875, 58.095703125, -88.06640625, 32.305057525634766 ]
3.066667
92
0
92
0
[ -0.17578125, 89.384765625, 108.984375, 56.953125, -88.06640625, 32.50215148925781 ]
[ -0.791015625, 88.76953125, 112.32421875, 58.095703125, -88.06640625, 32.305057525634766 ]
3.1
93
0
93
0
[ -0.17578125, 89.384765625, 108.896484375, 56.953125, -88.06640625, 32.50215148925781 ]
[ -0.791015625, 88.76953125, 112.32421875, 58.095703125, -88.06640625, 32.305057525634766 ]
3.133333
94
0
94
0
[ -0.17578125, 89.384765625, 108.896484375, 56.953125, -88.06640625, 32.50215148925781 ]
[ -0.791015625, 88.76953125, 112.32421875, 58.095703125, -88.06640625, 32.305057525634766 ]
3.166667
95
0
95
0
[ -0.17578125, 89.384765625, 108.896484375, 56.953125, -87.978515625, 32.50215148925781 ]
[ -0.791015625, 88.76953125, 112.32421875, 58.095703125, -88.06640625, 32.305057525634766 ]
3.2
96
0
96
0
[ -0.17578125, 89.296875, 108.896484375, 56.953125, -87.890625, 32.50215148925781 ]
[ -0.791015625, 88.76953125, 112.32421875, 58.095703125, -88.06640625, 32.305057525634766 ]
3.233333
97
0
97
0
[ -0.17578125, 88.681640625, 108.720703125, 56.953125, -87.890625, 32.50215148925781 ]
[ -0.791015625, 88.76953125, 112.32421875, 58.095703125, -88.06640625, 32.305057525634766 ]
3.266667
98
0
98
0
[ -0.17578125, 87.626953125, 108.45703125, 56.953125, -87.890625, 32.50215148925781 ]
[ -0.791015625, 88.59375, 112.32421875, 58.095703125, -88.06640625, 32.305057525634766 ]
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": 10,
    "total_frames": 6470,
    "total_tasks": 1,
    "total_videos": 10,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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.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
            ],
            "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": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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