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Datasets:
bjb7
/
so101_pen_mug_10_3

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so101
test
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Dask
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action
sequence
observation.state
sequence
timestamp
float32
0
15.9
frame_index
int64
0
476
episode_index
int64
0
9
index
int64
0
3.81k
task_index
int64
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0
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[ 18.544921875, 117.509765625, 100.986328125, 28.30078125, 70.3125, 7.433380126953125 ]
2.433333
73
0
73
0
[ 22.412109375, 125.859375, 99.931640625, 26.455078125, 69.697265625, 2.3157894611358643 ]
[ 19.248046875, 118.740234375, 100.986328125, 28.30078125, 70.224609375, 7.433380126953125 ]
2.466667
74
0
74
0
[ 23.37890625, 126.38671875, 99.931640625, 26.455078125, 69.697265625, 2.3157894611358643 ]
[ 19.951171875, 119.794921875, 100.986328125, 28.30078125, 70.224609375, 7.433380126953125 ]
2.5
75
0
75
0
[ 24.345703125, 126.650390625, 100.01953125, 26.455078125, 69.609375, 2.3157894611358643 ]
[ 20.7421875, 120.849609375, 100.986328125, 28.30078125, 70.224609375, 7.433380126953125 ]
2.533333
76
0
76
0
[ 25.224609375, 127.001953125, 100.107421875, 26.455078125, 69.609375, 2.3157894611358643 ]
[ 21.62109375, 121.640625, 100.986328125, 28.30078125, 70.224609375, 7.433380126953125 ]
2.566667
77
0
77
0
[ 26.015625, 127.353515625, 100.546875, 26.455078125, 69.609375, 2.3157894611358643 ]
[ 22.5, 122.431640625, 100.986328125, 28.30078125, 70.224609375, 7.433380126953125 ]
2.6
78
0
78
0
[ 26.89453125, 127.705078125, 101.6015625, 26.455078125, 69.609375, 2.3157894611358643 ]
[ 23.466796875, 122.958984375, 100.986328125, 28.30078125, 70.224609375, 7.433380126953125 ]
2.633333
79
0
79
0
[ 27.7734375, 128.408203125, 102.919921875, 26.455078125, 69.609375, 2.3157894611358643 ]
[ 24.2578125, 123.3984375, 100.986328125, 28.30078125, 70.224609375, 7.433380126953125 ]
2.666667
80
0
80
0
[ 28.388671875, 129.638671875, 104.501953125, 26.455078125, 69.609375, 2.3157894611358643 ]
[ 25.224609375, 124.013671875, 101.689453125, 28.30078125, 70.224609375, 7.433380126953125 ]
2.7
81
0
81
0
[ 29.00390625, 130.95703125, 106.435546875, 26.455078125, 69.609375, 2.3157894611358643 ]
[ 26.103515625, 124.8046875, 102.83203125, 28.30078125, 70.224609375, 7.433380126953125 ]
2.733333
82
0
82
0
[ 29.35546875, 132.099609375, 108.45703125, 26.455078125, 69.609375, 2.3157894611358643 ]
[ 26.89453125, 125.5078125, 104.23828125, 28.30078125, 70.224609375, 7.433380126953125 ]
2.766667
83
0
83
0
[ 29.619140625, 133.2421875, 110.7421875, 26.3671875, 69.609375, 2.3157894611358643 ]
[ 27.59765625, 126.38671875, 105.8203125, 28.30078125, 70.224609375, 7.433380126953125 ]
2.8
84
0
84
0
[ 29.70703125, 134.384765625, 112.8515625, 26.3671875, 69.609375, 2.3157894611358643 ]
[ 28.212890625, 127.353515625, 107.666015625, 28.30078125, 70.224609375, 7.433380126953125 ]
2.833333
85
0
85
0
[ 29.8828125, 135.439453125, 114.609375, 26.3671875, 69.609375, 2.3157894611358643 ]
[ 28.740234375, 128.583984375, 109.86328125, 28.30078125, 70.224609375, 7.433380126953125 ]
2.866667
86
0
86
0
[ 29.970703125, 136.40625, 115.83984375, 26.279296875, 69.609375, 2.3157894611358643 ]
[ 29.00390625, 129.55078125, 111.708984375, 28.30078125, 70.224609375, 7.433380126953125 ]
2.9
87
0
87
0
[ 29.970703125, 137.373046875, 117.0703125, 26.279296875, 69.609375, 2.3157894611358643 ]
[ 29.267578125, 130.693359375, 113.73046875, 28.30078125, 70.224609375, 7.433380126953125 ]
2.933333
88
0
88
0
[ 29.970703125, 138.251953125, 118.125, 26.19140625, 69.609375, 2.3157894611358643 ]
[ 29.53125, 131.748046875, 115.576171875, 28.30078125, 70.224609375, 7.433380126953125 ]
2.966667
89
0
89
0
[ 29.970703125, 139.130859375, 119.091796875, 25.751953125, 69.609375, 2.385964870452881 ]
[ 29.619140625, 132.71484375, 116.982421875, 28.30078125, 70.224609375, 7.433380126953125 ]
3
90
0
90
0
[ 29.970703125, 139.5703125, 119.8828125, 25.13671875, 69.609375, 2.385964870452881 ]
[ 29.619140625, 133.59375, 118.388671875, 28.30078125, 70.224609375, 7.433380126953125 ]
3.033333
91
0
91
0
[ 29.970703125, 139.658203125, 120.5859375, 24.345703125, 69.609375, 2.385964870452881 ]
[ 29.70703125, 134.560546875, 119.619140625, 28.037109375, 70.224609375, 7.433380126953125 ]
3.066667
92
0
92
0
[ 30.05859375, 139.833984375, 121.46484375, 23.466796875, 69.609375, 2.4561402797698975 ]
[ 29.70703125, 135.3515625, 120.5859375, 27.59765625, 70.224609375, 7.433380126953125 ]
3.1
93
0
93
0
[ 30.146484375, 139.833984375, 122.607421875, 22.587890625, 69.609375, 2.526315927505493 ]
[ 29.70703125, 135.87890625, 121.201171875, 26.982421875, 70.224609375, 7.433380126953125 ]
3.133333
94
0
94
0
[ 30.498046875, 139.833984375, 123.837890625, 21.62109375, 69.609375, 2.526315927505493 ]
[ 29.70703125, 136.494140625, 122.080078125, 26.19140625, 70.224609375, 7.433380126953125 ]
3.166667
95
0
95
0
[ 31.201171875, 139.921875, 125.15625, 20.654296875, 69.609375, 2.526315927505493 ]
[ 29.70703125, 136.93359375, 123.046875, 25.400390625, 70.224609375, 7.433380126953125 ]
3.2
96
0
96
0
[ 31.9921875, 139.921875, 126.38671875, 19.51171875, 69.609375, 2.526315927505493 ]
[ 29.70703125, 137.197265625, 124.27734375, 24.521484375, 70.224609375, 7.433380126953125 ]
3.233333
97
0
97
0
[ 32.783203125, 139.921875, 127.44140625, 18.369140625, 69.609375, 2.385964870452881 ]
[ 30.146484375, 137.28515625, 125.5078125, 23.5546875, 70.224609375, 7.433380126953125 ]
3.266667
98
0
98
0
[ 33.3984375, 139.921875, 128.408203125, 17.05078125, 69.609375, 2.385964870452881 ]
[ 30.5859375, 137.373046875, 126.73828125, 22.67578125, 70.224609375, 7.433380126953125 ]
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": 3811,
    "total_tasks": 1,
    "total_videos": 20,
    "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.camera_2": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "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.camera_4": {
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            "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",
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                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:
3,811