phospho-app/pi0.5-so100_pick_and_place_v4_50-7xpedwglqn
Robotics
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Updated
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action
sequence | observation.state
sequence | timestamp
float32 0
15.1
| frame_index
int64 0
452
| episode_index
int64 0
49
| index
int64 0
13.6k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
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[
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113.90625,
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[
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104.58984375,
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4.658203125,
135.3515625,
113.90625,
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113.90625,
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[
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135.3515625,
113.90625,
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[
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[
4.74609375,
135.3515625,
113.90625,
104.326171875,
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[
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135.3515625,
113.90625,
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[
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135.3515625,
113.90625,
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[
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104.501953125,
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135.3515625,
113.90625,
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| 55
| 0
| 55
| 0
|
[
5.361328125,
136.318359375,
113.115234375,
104.501953125,
-82.44140625,
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[
4.74609375,
135.3515625,
113.90625,
104.326171875,
-82.353515625,
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| 56
| 0
| 56
| 0
|
[
5.537109375,
136.40625,
113.203125,
104.501953125,
-82.529296875,
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[
4.74609375,
135.3515625,
113.90625,
104.326171875,
-82.353515625,
-2.3809523582458496
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| 57
| 0
| 57
| 0
|
[
5.712890625,
136.494140625,
113.203125,
104.58984375,
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[
4.74609375,
135.3515625,
113.90625,
104.326171875,
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| 58
| 0
| 58
| 0
|
[
5.888671875,
136.58203125,
113.291015625,
104.58984375,
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[
4.74609375,
135.3515625,
113.90625,
104.326171875,
-82.353515625,
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| 59
| 0
| 59
| 0
|
[
5.9765625,
136.669921875,
113.291015625,
104.58984375,
-82.529296875,
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[
5.09765625,
135.52734375,
113.90625,
104.326171875,
-82.353515625,
-2.3809523582458496
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| 60
| 0
| 60
| 0
|
[
6.064453125,
136.669921875,
113.291015625,
104.58984375,
-82.529296875,
-5.069124221801758
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[
5.44921875,
135.703125,
113.90625,
104.326171875,
-82.353515625,
-2.3809523582458496
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| 61
| 0
| 61
| 0
|
[
6.15234375,
136.669921875,
113.291015625,
104.58984375,
-82.529296875,
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[
5.888671875,
135.87890625,
113.90625,
104.326171875,
-82.353515625,
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] | 2.066667
| 62
| 0
| 62
| 0
|
[
6.240234375,
136.669921875,
113.291015625,
104.58984375,
-82.529296875,
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[
5.888671875,
135.87890625,
113.90625,
104.326171875,
-82.353515625,
-2.3809523582458496
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| 63
| 0
| 63
| 0
|
[
6.328125,
136.669921875,
113.291015625,
104.58984375,
-82.529296875,
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[
5.888671875,
135.87890625,
113.90625,
104.326171875,
-82.353515625,
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| 64
| 0
| 64
| 0
|
[
6.50390625,
136.58203125,
113.291015625,
104.58984375,
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[
5.80078125,
135.87890625,
113.90625,
104.326171875,
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| 65
| 0
| 65
| 0
|
[
6.6796875,
136.58203125,
113.291015625,
104.58984375,
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[
5.80078125,
135.87890625,
113.90625,
104.326171875,
-82.353515625,
-2.3809523582458496
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| 66
| 0
| 66
| 0
|
[
7.03125,
136.58203125,
113.291015625,
104.58984375,
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[
5.80078125,
135.87890625,
113.90625,
104.326171875,
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| 67
| 0
| 67
| 0
|
[
7.470703125,
136.669921875,
113.291015625,
104.58984375,
-83.056640625,
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[
6.15234375,
135.87890625,
113.90625,
104.326171875,
-82.353515625,
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| 68
| 0
| 68
| 0
|
[
7.998046875,
136.669921875,
113.203125,
104.58984375,
-83.408203125,
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[
6.591796875,
135.87890625,
113.90625,
104.326171875,
-82.353515625,
-2.3809523582458496
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| 69
| 0
| 69
| 0
|
[
8.61328125,
136.669921875,
113.115234375,
104.58984375,
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[
7.20703125,
135.87890625,
113.90625,
104.326171875,
-82.353515625,
-2.3809523582458496
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| 70
| 0
| 70
| 0
|
[
9.31640625,
136.7578125,
112.939453125,
104.501953125,
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[
7.55859375,
135.87890625,
113.90625,
104.326171875,
-82.529296875,
-2.3809523582458496
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| 71
| 0
| 71
| 0
|
[
10.01953125,
136.669921875,
112.763671875,
104.501953125,
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[
7.998046875,
135.966796875,
113.90625,
104.326171875,
-82.880859375,
-2.3809523582458496
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| 72
| 0
| 72
| 0
|
[
10.72265625,
136.58203125,
112.67578125,
104.501953125,
-84.19921875,
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[
8.349609375,
136.0546875,
113.90625,
104.326171875,
-83.056640625,
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| 73
| 0
| 73
| 0
|
[
11.6015625,
136.318359375,
112.412109375,
104.501953125,
-84.111328125,
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[
8.96484375,
136.0546875,
113.90625,
104.326171875,
-83.3203125,
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| 74
| 0
| 74
| 0
|
[
12.568359375,
136.142578125,
112.236328125,
104.501953125,
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[
9.66796875,
136.0546875,
113.90625,
104.326171875,
-83.3203125,
-2.3809523582458496
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| 75
| 0
| 75
| 0
|
[
13.623046875,
136.0546875,
112.1484375,
104.501953125,
-84.19921875,
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[
10.634765625,
136.0546875,
113.90625,
104.326171875,
-83.3203125,
-2.3809523582458496
] | 2.533333
| 76
| 0
| 76
| 0
|
[
14.765625,
136.0546875,
112.1484375,
104.501953125,
-84.638671875,
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[
11.513671875,
136.0546875,
113.90625,
104.326171875,
-83.3203125,
-2.3809523582458496
] | 2.566667
| 77
| 0
| 77
| 0
|
[
15.908203125,
136.0546875,
112.1484375,
104.501953125,
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[
12.392578125,
136.0546875,
113.90625,
104.326171875,
-83.3203125,
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| 78
| 0
| 78
| 0
|
[
16.962890625,
136.142578125,
112.1484375,
104.501953125,
-86.044921875,
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[
13.447265625,
136.0546875,
113.90625,
104.326171875,
-83.671875,
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| 79
| 0
| 79
| 0
|
[
17.9296875,
136.142578125,
112.1484375,
104.501953125,
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[
14.501953125,
136.0546875,
113.90625,
104.326171875,
-84.19921875,
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| 80
| 0
| 80
| 0
|
[
18.80859375,
136.142578125,
112.1484375,
104.501953125,
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[
15.8203125,
136.0546875,
113.90625,
104.326171875,
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| 81
| 0
| 81
| 0
|
[
19.51171875,
136.142578125,
112.060546875,
104.4140625,
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[
16.875,
136.0546875,
113.90625,
104.326171875,
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| 82
| 0
| 82
| 0
|
[
20.0390625,
136.0546875,
111.97265625,
104.4140625,
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[
17.841796875,
136.0546875,
113.90625,
104.326171875,
-86.1328125,
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| 83
| 0
| 83
| 0
|
[
20.478515625,
135.87890625,
111.884765625,
104.326171875,
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[
18.544921875,
136.0546875,
113.90625,
104.326171875,
-86.748046875,
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| 84
| 0
| 84
| 0
|
[
20.91796875,
135.615234375,
111.708984375,
104.326171875,
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[
19.072265625,
136.0546875,
113.90625,
104.326171875,
-87.275390625,
-2.3809523582458496
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| 85
| 0
| 85
| 0
|
[
21.09375,
135.52734375,
111.708984375,
104.23828125,
-89.560546875,
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[
19.51171875,
136.0546875,
113.90625,
104.326171875,
-87.71484375,
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| 86
| 0
| 86
| 0
|
[
21.181640625,
135.3515625,
111.708984375,
104.23828125,
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[
20.0390625,
135.791015625,
113.90625,
104.326171875,
-88.154296875,
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| 87
| 0
| 87
| 0
|
[
21.181640625,
135.263671875,
111.708984375,
104.23828125,
-89.912109375,
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[
20.390625,
135.703125,
113.90625,
104.326171875,
-88.59375,
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| 88
| 0
| 88
| 0
|
[
21.181640625,
135.17578125,
111.708984375,
104.150390625,
-90,
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[
20.830078125,
135.52734375,
113.90625,
104.326171875,
-88.76953125,
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| 89
| 0
| 89
| 0
|
[
21.181640625,
135.087890625,
111.708984375,
104.150390625,
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[
21.005859375,
135.439453125,
113.90625,
104.326171875,
-89.033203125,
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| 90
| 0
| 90
| 0
|
[
21.09375,
135,
111.796875,
104.150390625,
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[
21.005859375,
135.263671875,
113.90625,
104.326171875,
-89.208984375,
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| 91
| 0
| 91
| 0
|
[
20.91796875,
135,
111.796875,
104.150390625,
-90.3515625,
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[
21.005859375,
135.17578125,
113.90625,
104.326171875,
-89.296875,
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| 92
| 0
| 92
| 0
|
[
20.830078125,
135,
111.884765625,
104.0625,
-90.615234375,
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[
20.91796875,
135.17578125,
113.90625,
104.326171875,
-89.47265625,
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| 93
| 0
| 93
| 0
|
[
20.830078125,
135,
111.884765625,
104.0625,
-91.0546875,
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[
20.91796875,
135.17578125,
113.90625,
104.326171875,
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| 94
| 0
| 94
| 0
|
[
20.830078125,
135,
111.97265625,
104.0625,
-91.58203125,
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[
20.91796875,
135.17578125,
113.90625,
104.326171875,
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| 95
| 0
| 95
| 0
|
[
20.830078125,
135,
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104.0625,
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[
20.91796875,
135.17578125,
113.90625,
104.326171875,
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| 96
| 0
| 96
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[
20.830078125,
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103.974609375,
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[
21.005859375,
135.17578125,
113.90625,
104.326171875,
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| 97
| 0
| 97
| 0
|
[
20.830078125,
134.82421875,
112.587890625,
103.88671875,
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[
21.005859375,
135.17578125,
113.90625,
104.326171875,
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| 98
| 0
| 98
| 0
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[
20.830078125,
134.82421875,
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[
21.005859375,
135.17578125,
113.90625,
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| 99
| 0
| 99
| 0
|
End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 50,
"total_frames": 13638,
"total_tasks": 1,
"total_videos": 50,
"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": {
"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.hand": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"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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License:
apache-2.0
Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
934 kB
Number of rows:
13,638
Models trained or fine-tuned on julyfun/so100_pick_and_place_v4_50