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b-sky-lab
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so101_test

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Robotics
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LeRobot
so101
tutorial
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action
sequence
observation.state
sequence
timestamp
float32
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20.8
frame_index
int64
0
625
episode_index
int64
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0
index
int64
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625
task_index
int64
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[ -7.119140625, 109.951171875, 132.099609375, 30.322265625, -92.4609375, 41.70249557495117 ]
[ -7.294921875, 109.599609375, 132.099609375, 32.34375, -92.63671875, 41.4738655090332 ]
2.433333
73
0
73
0
[ -7.03125, 109.951171875, 132.275390625, 29.970703125, -92.109375, 41.70249557495117 ]
[ -7.3828125, 109.599609375, 132.5390625, 31.904296875, -92.8125, 41.4738655090332 ]
2.466667
74
0
74
0
[ -7.03125, 109.951171875, 132.5390625, 29.70703125, -92.197265625, 41.70249557495117 ]
[ -7.119140625, 109.599609375, 132.890625, 31.46484375, -92.548828125, 41.4738655090332 ]
2.5
75
0
75
0
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[ -6.6796875, 109.599609375, 132.978515625, 31.11328125, -92.4609375, 41.4738655090332 ]
2.533333
76
0
76
0
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[ -6.591796875, 109.599609375, 133.154296875, 30.76171875, -92.109375, 41.4738655090332 ]
2.566667
77
0
77
0
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[ -6.591796875, 109.599609375, 133.154296875, 30.5859375, -92.109375, 41.4738655090332 ]
2.6
78
0
78
0
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[ -6.85546875, 109.599609375, 133.2421875, 30.41015625, -92.28515625, 41.4738655090332 ]
2.633333
79
0
79
0
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2.666667
80
0
80
0
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[ -7.20703125, 109.599609375, 133.857421875, 30.146484375, -92.197265625, 41.4738655090332 ]
2.7
81
0
81
0
[ -6.6796875, 109.86328125, 134.384765625, 29.35546875, -92.021484375, 41.18658447265625 ]
[ -7.20703125, 109.599609375, 134.208984375, 30.146484375, -92.4609375, 41.4738655090332 ]
2.733333
82
0
82
0
[ -6.6796875, 109.86328125, 135, 29.619140625, -91.93359375, 41.10060501098633 ]
[ -7.20703125, 109.599609375, 134.6484375, 30.146484375, -92.197265625, 41.4738655090332 ]
2.766667
83
0
83
0
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[ -7.03125, 109.599609375, 135.263671875, 30.146484375, -92.109375, 41.4738655090332 ]
2.8
84
0
84
0
[ -6.591796875, 109.86328125, 136.23046875, 29.794921875, -91.93359375, 41.10060501098633 ]
[ -6.943359375, 109.599609375, 135.87890625, 30.146484375, -92.109375, 41.4738655090332 ]
2.833333
85
0
85
0
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[ -6.85546875, 109.599609375, 136.318359375, 30.146484375, -92.197265625, 41.4738655090332 ]
2.866667
86
0
86
0
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[ -6.767578125, 109.599609375, 136.669921875, 30.146484375, -92.197265625, 41.4738655090332 ]
2.9
87
0
87
0
[ -6.591796875, 109.86328125, 137.63671875, 29.267578125, -91.93359375, 41.10060501098633 ]
[ -6.767578125, 109.599609375, 137.548828125, 30.146484375, -92.109375, 41.4738655090332 ]
2.933333
88
0
88
0
[ -6.591796875, 109.86328125, 137.63671875, 29.267578125, -91.93359375, 41.10060501098633 ]
[ -6.767578125, 109.51171875, 138.076171875, 30.146484375, -92.109375, 41.4738655090332 ]
2.966667
89
0
89
0
[ -6.591796875, 109.86328125, 137.4609375, 29.267578125, -91.93359375, 41.10060501098633 ]
[ -6.767578125, 109.51171875, 138.33984375, 30.05859375, -92.373046875, 41.4738655090332 ]
3
90
0
90
0
[ -6.591796875, 109.86328125, 137.373046875, 29.1796875, -91.93359375, 41.10060501098633 ]
[ -6.767578125, 109.599609375, 138.427734375, 30.05859375, -92.109375, 41.4738655090332 ]
3.033333
91
0
91
0
[ -6.591796875, 109.86328125, 137.373046875, 29.1796875, -91.93359375, 41.10060501098633 ]
[ -6.767578125, 109.599609375, 138.427734375, 30.05859375, -92.197265625, 41.4738655090332 ]
3.066667
92
0
92
0
[ -6.591796875, 109.86328125, 137.28515625, 29.1796875, -91.93359375, 41.10060501098633 ]
[ -6.767578125, 109.599609375, 138.427734375, 30.05859375, -92.197265625, 41.4738655090332 ]
3.1
93
0
93
0
[ -6.591796875, 109.86328125, 137.28515625, 29.1796875, -91.93359375, 41.18658447265625 ]
[ -6.767578125, 109.599609375, 138.427734375, 30.05859375, -92.109375, 41.4738655090332 ]
3.133333
94
0
94
0
[ -6.50390625, 109.86328125, 137.28515625, 29.1796875, -91.93359375, 41.18658447265625 ]
[ -6.767578125, 109.599609375, 138.427734375, 30.05859375, -92.109375, 41.4738655090332 ]
3.166667
95
0
95
0
[ -6.50390625, 109.86328125, 137.28515625, 29.1796875, -92.109375, 41.10060501098633 ]
[ -6.767578125, 109.599609375, 138.427734375, 30.05859375, -92.109375, 41.4738655090332 ]
3.2
96
0
96
0
[ -6.50390625, 109.86328125, 137.28515625, 29.1796875, -92.197265625, 41.10060501098633 ]
[ -6.767578125, 109.599609375, 138.427734375, 30.05859375, -92.109375, 41.4738655090332 ]
3.233333
97
0
97
0
[ -6.50390625, 109.86328125, 137.28515625, 29.091796875, -92.28515625, 41.10060501098633 ]
[ -6.767578125, 109.599609375, 138.427734375, 30.05859375, -92.109375, 41.4738655090332 ]
3.266667
98
0
98
0
[ -6.50390625, 109.86328125, 137.197265625, 29.00390625, -92.373046875, 41.10060501098633 ]
[ -6.767578125, 109.599609375, 138.427734375, 30.05859375, -92.109375, 41.4738655090332 ]
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": 1,
    "total_frames": 626,
    "total_tasks": 1,
    "total_videos": 1,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "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": [
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            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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