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Datasets:
giacomoran
/
so101_data_collection_gba_hand

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
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Dask
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License:
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observation.state
list
action
list
timestamp
float32
0
19.5
frame_index
int64
0
390
episode_index
int64
0
218
index
int64
0
45.3k
task_index
int64
0
0
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0.75
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0.85
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1.65
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1.7
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1.75
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2
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2.1
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2.2
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2.3
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2.5
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2.55
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2.6
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2.65
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2.7
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2.75
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2.8
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56
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[ -3.472527503967285, -102.46154022216797, 96.35164642333984, 61.05494689941406, 0.21978022158145905, 71.8875503540039 ]
[ -3.472527503967285, -102.46154022216797, 96.35164642333984, 61.05494689941406, 0.21978022158145905, 71.8875503540039 ]
2.85
57
0
57
0
[ -3.472527503967285, -102.46154022216797, 96.26373291015625, 60.879119873046875, 1.3626374006271362, 72.48995971679688 ]
[ -3.472527503967285, -102.46154022216797, 96.26373291015625, 60.879119873046875, 1.3626374006271362, 72.48995971679688 ]
2.9
58
0
58
0
[ -3.472527503967285, -102.54945373535156, 95.82417297363281, 60.17582321166992, 1.7142857313156128, 72.42302703857422 ]
[ -3.472527503967285, -102.54945373535156, 95.82417297363281, 60.17582321166992, 1.7142857313156128, 72.42302703857422 ]
2.95
59
0
59
0
[ -3.5604395866394043, -102.63735961914062, 93.71428680419922, 59.64834976196289, 1.6263736486434937, 72.42302703857422 ]
[ -3.5604395866394043, -102.63735961914062, 93.71428680419922, 59.64834976196289, 1.6263736486434937, 72.42302703857422 ]
3
60
0
60
0
[ -4.087912082672119, -102.54945373535156, 91.42857360839844, 59.38461685180664, 1.0989011526107788, 72.42302703857422 ]
[ -4.087912082672119, -102.54945373535156, 91.42857360839844, 59.38461685180664, 1.0989011526107788, 72.42302703857422 ]
3.05
61
0
61
0
[ -5.934065818786621, -102.37362670898438, 89.75823974609375, 59.47252655029297, 1.0989011526107788, 72.42302703857422 ]
[ -5.934065818786621, -102.37362670898438, 89.75823974609375, 59.47252655029297, 1.0989011526107788, 72.42302703857422 ]
3.1
62
0
62
0
[ -7.692307472229004, -102.28571319580078, 87.47252655029297, 59.47252655029297, 1.0109890699386597, 72.42302703857422 ]
[ -7.692307472229004, -102.28571319580078, 87.47252655029297, 59.47252655029297, 1.0109890699386597, 72.42302703857422 ]
3.15
63
0
63
0
[ -8.659340858459473, -102.10989379882812, 84.48351287841797, 59.82417678833008, 1.0109890699386597, 72.42302703857422 ]
[ -8.659340858459473, -102.10989379882812, 84.48351287841797, 59.82417678833008, 1.0109890699386597, 72.42302703857422 ]
3.2
64
0
64
0
[ -9.274724960327148, -101.23076629638672, 81.75823974609375, 60, 1.0109890699386597, 72.42302703857422 ]
[ -9.274724960327148, -101.23076629638672, 81.75823974609375, 60, 1.0109890699386597, 72.42302703857422 ]
3.25
65
0
65
0
[ -9.714285850524902, -99.29669952392578, 78.76923370361328, 60, 1.0109890699386597, 72.42302703857422 ]
[ -9.714285850524902, -99.29669952392578, 78.76923370361328, 60, 1.0109890699386597, 72.42302703857422 ]
3.3
66
0
66
0
[ -9.626373291015625, -96.30769348144531, 75.6043930053711, 59.82417678833008, 1.0109890699386597, 72.42302703857422 ]
[ -9.626373291015625, -96.30769348144531, 75.6043930053711, 59.82417678833008, 1.0109890699386597, 72.42302703857422 ]
3.35
67
0
67
0
[ -9.538461685180664, -92.17582702636719, 71.82417297363281, 59.64834976196289, 1.0109890699386597, 72.42302703857422 ]
[ -9.538461685180664, -92.17582702636719, 71.82417297363281, 59.64834976196289, 1.0109890699386597, 72.42302703857422 ]
3.4
68
0
68
0
[ -9.538461685180664, -87.34066009521484, 67.6043930053711, 59.56044006347656, 0.3076923191547394, 72.42302703857422 ]
[ -9.538461685180664, -87.34066009521484, 67.6043930053711, 59.56044006347656, 0.3076923191547394, 72.42302703857422 ]
3.45
69
0
69
0
[ -9.714285850524902, -81.89010620117188, 62.94505310058594, 59.47252655029297, -1.3626374006271362, 72.42302703857422 ]
[ -9.714285850524902, -81.89010620117188, 62.94505310058594, 59.47252655029297, -1.3626374006271362, 72.42302703857422 ]
3.5
70
0
70
0
[ -9.714285850524902, -75.82417297363281, 57.758243560791016, 59.82417678833008, -3.2087912559509277, 72.42302703857422 ]
[ -9.714285850524902, -75.82417297363281, 57.758243560791016, 59.82417678833008, -3.2087912559509277, 72.42302703857422 ]
3.55
71
0
71
0
[ -9.714285850524902, -69.84615325927734, 52.57143020629883, 60, -5.318681240081787, 72.42302703857422 ]
[ -9.714285850524902, -69.84615325927734, 52.57143020629883, 60, -5.318681240081787, 72.42302703857422 ]
3.6
72
0
72
0
[ -9.714285850524902, -63.9560432434082, 47.120880126953125, 60, -7.516483306884766, 72.42302703857422 ]
[ -9.714285850524902, -63.9560432434082, 47.120880126953125, 60, -7.516483306884766, 72.42302703857422 ]
3.65
73
0
73
0
[ -9.714285850524902, -58.153846740722656, 41.758243560791016, 60.17582321166992, -10.329669952392578, 72.42302703857422 ]
[ -9.714285850524902, -58.153846740722656, 41.758243560791016, 60.17582321166992, -10.329669952392578, 72.42302703857422 ]
3.7
74
0
74
0
[ -9.714285850524902, -52.52747344970703, 37.010990142822266, 60.35165023803711, -13.582417488098145, 72.42302703857422 ]
[ -9.714285850524902, -52.52747344970703, 37.010990142822266, 60.35165023803711, -13.582417488098145, 72.42302703857422 ]
3.75
75
0
75
0
[ -9.714285850524902, -46.901100158691406, 32.263736724853516, 61.230770111083984, -17.098901748657227, 72.42302703857422 ]
[ -9.714285850524902, -46.901100158691406, 32.263736724853516, 61.230770111083984, -17.098901748657227, 72.42302703857422 ]
3.8
76
0
76
0
[ -9.714285850524902, -41.27472686767578, 27.69230842590332, 63.340660095214844, -20.52747344970703, 72.42302703857422 ]
[ -9.714285850524902, -41.27472686767578, 27.69230842590332, 63.340660095214844, -20.52747344970703, 72.42302703857422 ]
3.85
77
0
77
0
[ -9.714285850524902, -35.64834976196289, 23.648351669311523, 64.83516693115234, -24.30769157409668, 72.42302703857422 ]
[ -9.714285850524902, -35.64834976196289, 23.648351669311523, 64.83516693115234, -24.30769157409668, 72.42302703857422 ]
3.9
78
0
78
0
[ -9.626373291015625, -30.373626708984375, 19.69230842590332, 65.80220031738281, -28.08791160583496, 72.42302703857422 ]
[ -9.626373291015625, -30.373626708984375, 19.69230842590332, 65.80220031738281, -28.08791160583496, 72.42302703857422 ]
3.95
79
0
79
0
[ -9.450549125671387, -25.450550079345703, 15.648351669311523, 66.76923370361328, -31.604394912719727, 72.42302703857422 ]
[ -9.450549125671387, -25.450550079345703, 15.648351669311523, 66.76923370361328, -31.604394912719727, 72.42302703857422 ]
4
80
0
80
0
[ -9.274724960327148, -20.52747344970703, 11.516483306884766, 68.35164642333984, -35.03296661376953, 72.42302703857422 ]
[ -9.274724960327148, -20.52747344970703, 11.516483306884766, 68.35164642333984, -35.03296661376953, 72.42302703857422 ]
4.05
81
0
81
0
[ -9.186813354492188, -16.131868362426758, 8.087912559509277, 69.84615325927734, -38.10988998413086, 72.42302703857422 ]
[ -9.186813354492188, -16.131868362426758, 8.087912559509277, 69.84615325927734, -38.10988998413086, 72.42302703857422 ]
4.1
82
0
82
0
[ -9.186813354492188, -12, 5.098901271820068, 71.07691955566406, -41.626373291015625, 72.42302703857422 ]
[ -9.186813354492188, -12, 5.098901271820068, 71.07691955566406, -41.626373291015625, 72.42302703857422 ]
4.15
83
0
83
0
[ -9.186813354492188, -8.219779968261719, 2.8131868839263916, 72.30769348144531, -45.406593322753906, 72.42302703857422 ]
[ -9.186813354492188, -8.219779968261719, 2.8131868839263916, 72.30769348144531, -45.406593322753906, 72.42302703857422 ]
4.2
84
0
84
0
[ -9.186813354492188, -4.879120826721191, 1.494505524635315, 73.27472686767578, -48.92307662963867, 72.42302703857422 ]
[ -9.186813354492188, -4.879120826721191, 1.494505524635315, 73.27472686767578, -48.92307662963867, 72.42302703857422 ]
4.25
85
0
85
0
[ -9.01098918914795, -1.890109896659851, 0.9670329689979553, 73.97801971435547, -51.64834976196289, 72.42302703857422 ]
[ -9.01098918914795, -1.890109896659851, 0.9670329689979553, 73.97801971435547, -51.64834976196289, 72.42302703857422 ]
4.3
86
0
86
0
[ -8.219779968261719, 0.6593406796455383, 0.791208803653717, 74.32967376708984, -54.10988998413086, 72.42302703857422 ]
[ -8.219779968261719, 0.6593406796455383, 0.791208803653717, 74.32967376708984, -54.10988998413086, 72.42302703857422 ]
4.35
87
0
87
0
[ -7.340659141540527, 2.857142925262451, 0.4395604431629181, 74.24176025390625, -56.30769348144531, 72.42302703857422 ]
[ -7.340659141540527, 2.857142925262451, 0.4395604431629181, 74.24176025390625, -56.30769348144531, 72.42302703857422 ]
4.4
88
0
88
0
[ -6.461538314819336, 4.439560413360596, 0.4395604431629181, 73.97801971435547, -57.27472686767578, 72.42302703857422 ]
[ -6.461538314819336, 4.439560413360596, 0.4395604431629181, 73.97801971435547, -57.27472686767578, 72.42302703857422 ]
4.45
89
0
89
0
[ -5.846153736114502, 6.02197790145874, 0.4395604431629181, 73.89010620117188, -58.5054931640625, 72.42302703857422 ]
[ -5.846153736114502, 6.02197790145874, 0.4395604431629181, 73.89010620117188, -58.5054931640625, 72.42302703857422 ]
4.5
90
0
90
0
[ -5.318681240081787, 7.252747058868408, 0.4395604431629181, 73.89010620117188, -59.56044006347656, 72.42302703857422 ]
[ -5.318681240081787, 7.252747058868408, 0.4395604431629181, 73.89010620117188, -59.56044006347656, 72.42302703857422 ]
4.55
91
0
91
0
[ -4.879120826721191, 8.483516693115234, 0.4395604431629181, 73.62637329101562, -60.70329666137695, 72.42302703857422 ]
[ -4.879120826721191, 8.483516693115234, 0.4395604431629181, 73.62637329101562, -60.70329666137695, 72.42302703857422 ]
4.6
92
0
92
0
[ -4.527472496032715, 9.626373291015625, 0.4395604431629181, 73.53845977783203, -61.230770111083984, 72.42302703857422 ]
[ -4.527472496032715, 9.626373291015625, 0.4395604431629181, 73.53845977783203, -61.230770111083984, 72.42302703857422 ]
4.65
93
0
93
0
[ -4.439560413360596, 10.681318283081055, 0.4395604431629181, 73.53845977783203, -61.230770111083984, 72.42302703857422 ]
[ -4.439560413360596, 10.681318283081055, 0.4395604431629181, 73.53845977783203, -61.230770111083984, 72.42302703857422 ]
4.7
94
0
94
0
[ -4.439560413360596, 11.472527503967285, 0.4395604431629181, 73.45054626464844, -61.230770111083984, 72.42302703857422 ]
[ -4.439560413360596, 11.472527503967285, 0.4395604431629181, 73.45054626464844, -61.230770111083984, 72.42302703857422 ]
4.75
95
0
95
0
[ -4.439560413360596, 12.087912559509277, 0.4395604431629181, 73.45054626464844, -61.230770111083984, 72.42302703857422 ]
[ -4.439560413360596, 12.087912559509277, 0.4395604431629181, 73.45054626464844, -61.230770111083984, 72.42302703857422 ]
4.8
96
0
96
0
[ -4.351648330688477, 12.527472496032715, 0.4395604431629181, 73.45054626464844, -61.230770111083984, 72.42302703857422 ]
[ -4.351648330688477, 12.527472496032715, 0.4395604431629181, 73.45054626464844, -61.230770111083984, 72.42302703857422 ]
4.85
97
0
97
0
[ -4, 12.967033386230469, 0.4395604431629181, 73.45054626464844, -61.230770111083984, 72.42302703857422 ]
[ -4, 12.967033386230469, 0.4395604431629181, 73.45054626464844, -61.230770111083984, 72.42302703857422 ]
4.9
98
0
98
0
[ -3.8241758346557617, 13.406593322753906, 0.4395604431629181, 73.36264038085938, -61.230770111083984, 72.42302703857422 ]
[ -3.8241758346557617, 13.406593322753906, 0.4395604431629181, 73.36264038085938, -61.230770111083984, 72.42302703857422 ]
4.95
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "so101",
    "total_episodes": 219,
    "total_frames": 45269,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:219"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
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            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ]
        },
        "observation.images.wrist": {
            "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": 20,
                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.top": {
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            "shape": [
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            "names": [
                "height",
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            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
                "has_audio": false
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        },
        "action": {
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            "shape": [
                6
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            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ]
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
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        "frame_index": {
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            "names": null
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        "episode_index": {
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            "names": null
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        "index": {
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            "names": null
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        "task_index": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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Downloads last month
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License:
apache-2.0
Size of downloaded dataset files:
2.27 MB
Size of the auto-converted Parquet files:
2.27 MB
Number of rows:
45,269