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Datasets:
huihui060124
/
so101_test_50move

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so101
tutorial
Libraries:
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Dask
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action
list
observation.state
list
timestamp
float32
0
19.8
frame_index
int64
0
594
episode_index
int64
0
49
index
int64
0
28.3k
task_index
int64
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[ -20.7421875, 85.341796875, 85.95703125, 91.669921875, -10.986328125, -0.3238866329193115 ]
[ -20.7421875, 79.8046875, 79.189453125, 95.625, -10.546875, -0.3281378149986267 ]
2.333333
70
0
70
0
[ -20.7421875, 86.044921875, 88.154296875, 90.263671875, -10.986328125, -0.3238866329193115 ]
[ -20.7421875, 80.68359375, 81.5625, 94.482421875, -10.634765625, -0.3281378149986267 ]
2.366667
71
0
71
0
[ -20.7421875, 86.748046875, 90.17578125, 89.033203125, -10.986328125, -0.3238866329193115 ]
[ -20.478515625, 81.650390625, 84.0234375, 93.076171875, -10.634765625, -0.3281378149986267 ]
2.4
72
0
72
0
[ -20.7421875, 87.36328125, 92.109375, 87.890625, -10.986328125, -0.3238866329193115 ]
[ -20.390625, 82.265625, 86.1328125, 91.93359375, -10.810546875, -0.3281378149986267 ]
2.433333
73
0
73
0
[ -20.7421875, 88.06640625, 93.955078125, 86.923828125, -10.986328125, -0.3238866329193115 ]
[ -20.302734375, 83.056640625, 88.2421875, 90.615234375, -10.634765625, -0.3281378149986267 ]
2.466667
74
0
74
0
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[ -20.302734375, 83.759765625, 90.263671875, 89.384765625, -10.986328125, -0.3281378149986267 ]
2.5
75
0
75
0
[ -20.7421875, 89.384765625, 96.85546875, 85.95703125, -10.986328125, -0.3238866329193115 ]
[ -20.390625, 84.55078125, 92.28515625, 88.41796875, -10.8984375, -0.3281378149986267 ]
2.533333
76
0
76
0
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[ -20.56640625, 85.25390625, 94.21875, 87.451171875, -10.72265625, -0.3281378149986267 ]
2.566667
77
0
77
0
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[ -20.654296875, 85.95703125, 95.625, 86.923828125, -10.72265625, -0.3281378149986267 ]
2.6
78
0
78
0
[ -20.7421875, 91.0546875, 100.107421875, 84.638671875, -10.986328125, -0.3238866329193115 ]
[ -20.654296875, 86.66015625, 97.03125, 86.30859375, -10.634765625, -0.3281378149986267 ]
2.633333
79
0
79
0
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[ -20.654296875, 87.36328125, 98.349609375, 85.869140625, -10.986328125, -0.3281378149986267 ]
2.666667
80
0
80
0
[ -20.830078125, 91.669921875, 102.041015625, 83.49609375, -11.07421875, -0.3238866329193115 ]
[ -20.654296875, 87.890625, 99.404296875, 85.341796875, -10.72265625, -0.3281378149986267 ]
2.7
81
0
81
0
[ -20.830078125, 91.845703125, 102.919921875, 82.6171875, -11.07421875, -0.3238866329193115 ]
[ -20.654296875, 88.330078125, 100.458984375, 84.7265625, -10.8984375, -0.3281378149986267 ]
2.733333
82
0
82
0
[ -20.830078125, 92.021484375, 103.88671875, 81.650390625, -11.07421875, -0.3238866329193115 ]
[ -20.654296875, 88.76953125, 101.513671875, 84.19921875, -11.07421875, -0.3281378149986267 ]
2.766667
83
0
83
0
[ -20.830078125, 92.021484375, 104.765625, 80.419921875, -11.07421875, -0.3238866329193115 ]
[ -20.654296875, 89.12109375, 102.568359375, 83.408203125, -11.07421875, -0.3281378149986267 ]
2.8
84
0
84
0
[ -20.830078125, 92.021484375, 105.556640625, 79.27734375, -11.07421875, -0.3238866329193115 ]
[ -20.654296875, 89.208984375, 103.447265625, 82.529296875, -10.8984375, -0.3281378149986267 ]
2.833333
85
0
85
0
[ -20.830078125, 92.021484375, 106.34765625, 78.22265625, -11.07421875, -0.3238866329193115 ]
[ -20.654296875, 89.208984375, 104.4140625, 81.650390625, -10.986328125, -0.3281378149986267 ]
2.866667
86
0
86
0
[ -20.830078125, 92.021484375, 107.05078125, 77.34375, -11.07421875, -0.3238866329193115 ]
[ -20.654296875, 89.208984375, 105.29296875, 80.419921875, -10.634765625, -0.3281378149986267 ]
2.9
87
0
87
0
[ -20.830078125, 92.021484375, 107.666015625, 76.552734375, -11.07421875, -0.3238866329193115 ]
[ -20.654296875, 89.208984375, 106.083984375, 79.541015625, -10.986328125, -0.3281378149986267 ]
2.933333
88
0
88
0
[ -20.830078125, 92.021484375, 108.193359375, 75.673828125, -11.07421875, -0.3238866329193115 ]
[ -20.654296875, 89.208984375, 106.875, 78.57421875, -11.07421875, -0.3281378149986267 ]
2.966667
89
0
89
0
[ -20.830078125, 92.021484375, 108.6328125, 74.8828125, -11.07421875, -0.3238866329193115 ]
[ -20.654296875, 89.208984375, 107.578125, 77.6953125, -11.07421875, -0.3281378149986267 ]
3
90
0
90
0
[ -20.7421875, 91.845703125, 109.072265625, 74.00390625, -10.986328125, -0.3238866329193115 ]
[ -20.654296875, 89.208984375, 108.193359375, 76.81640625, -11.07421875, -0.3281378149986267 ]
3.033333
91
0
91
0
[ -20.7421875, 91.669921875, 109.423828125, 73.30078125, -10.986328125, -0.3238866329193115 ]
[ -20.654296875, 89.208984375, 108.720703125, 75.9375, -10.986328125, -0.3281378149986267 ]
3.066667
92
0
92
0
[ -20.7421875, 91.494140625, 109.51171875, 72.685546875, -10.8984375, -0.3238866329193115 ]
[ -20.654296875, 89.208984375, 109.16015625, 75.05859375, -10.986328125, -0.3281378149986267 ]
3.1
93
0
93
0
[ -20.7421875, 91.23046875, 109.423828125, 72.24609375, -10.634765625, -0.3238866329193115 ]
[ -20.654296875, 89.208984375, 109.423828125, 74.35546875, -10.810546875, -0.3281378149986267 ]
3.133333
94
0
94
0
[ -20.7421875, 91.142578125, 109.423828125, 71.806640625, -10.546875, -0.3238866329193115 ]
[ -20.654296875, 89.208984375, 109.423828125, 73.740234375, -10.634765625, -0.3281378149986267 ]
3.166667
95
0
95
0
[ -20.654296875, 91.142578125, 109.423828125, 71.455078125, -10.458984375, -0.3238866329193115 ]
[ -20.654296875, 89.208984375, 109.423828125, 73.4765625, -10.634765625, -0.3281378149986267 ]
3.2
96
0
96
0
[ -20.654296875, 91.0546875, 109.423828125, 70.83984375, -10.37109375, -0.3238866329193115 ]
[ -20.654296875, 89.208984375, 109.423828125, 72.861328125, -10.546875, -0.3281378149986267 ]
3.233333
97
0
97
0
[ -20.654296875, 91.0546875, 109.423828125, 70.13671875, -10.283203125, -0.3238866329193115 ]
[ -20.654296875, 89.208984375, 109.423828125, 72.333984375, -10.546875, -0.3281378149986267 ]
3.266667
98
0
98
0
[ -20.654296875, 91.0546875, 109.423828125, 69.43359375, -10.283203125, -0.3238866329193115 ]
[ -20.654296875, 89.208984375, 109.423828125, 71.806640625, -10.546875, -0.3281378149986267 ]
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": 50,
    "total_frames": 28323,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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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            "shape": [
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            "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": [
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                640,
                3
            ],
            "names": [
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        "observation.images.phone": {
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            "names": [
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                "channels"
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            "info": {
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                "video.is_depth_map": false,
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                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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        "index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
apache-2.0
Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
28,323