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kozakvoj
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so101_test1

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Robotics
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LeRobot
so101
tutorial
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pandas
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action
sequence
observation.state
sequence
timestamp
float32
0
19.3
frame_index
int64
0
579
episode_index
int64
0
0
index
int64
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task_index
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[ -19.423828125, 72.7734375, 46.93359375, 72.421875, -3.251953125, -1.1618257761001587 ]
2.333333
70
0
70
0
[ -23.02734375, 73.212890625, 44.82421875, 68.466796875, -1.0546875, -1.4431239366531372 ]
[ -20.126953125, 72.7734375, 46.93359375, 71.630859375, -2.63671875, -1.1618257761001587 ]
2.366667
71
0
71
0
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[ -21.09375, 72.7734375, 46.93359375, 70.6640625, -2.021484375, -1.1618257761001587 ]
2.4
72
0
72
0
[ -24.43359375, 73.212890625, 44.82421875, 67.236328125, -0.87890625, -1.4431239366531372 ]
[ -21.884765625, 72.7734375, 46.93359375, 69.78515625, -1.669921875, -1.1618257761001587 ]
2.433333
73
0
73
0
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[ -22.67578125, 72.7734375, 46.93359375, 68.994140625, -1.318359375, -1.1618257761001587 ]
2.466667
74
0
74
0
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[ -23.291015625, 72.7734375, 46.93359375, 68.37890625, -1.23046875, -1.1618257761001587 ]
2.5
75
0
75
0
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[ -23.818359375, 72.7734375, 46.93359375, 67.939453125, -1.142578125, -1.1618257761001587 ]
2.533333
76
0
76
0
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2.566667
77
0
77
0
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[ -24.9609375, 72.7734375, 46.93359375, 67.763671875, -1.142578125, -1.1618257761001587 ]
2.6
78
0
78
0
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[ -25.48828125, 72.7734375, 46.93359375, 67.763671875, -1.142578125, -1.1618257761001587 ]
2.633333
79
0
79
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[ -25.927734375, 72.7734375, 46.93359375, 67.763671875, -1.142578125, -1.1618257761001587 ]
2.666667
80
0
80
0
[ -28.125, 72.94921875, 49.21875, 67.060546875, -0.87890625, -1.4431239366531372 ]
[ -26.3671875, 72.7734375, 46.93359375, 67.763671875, -1.142578125, -1.1618257761001587 ]
2.7
81
0
81
0
[ -28.4765625, 72.94921875, 50.80078125, 66.796875, -0.87890625, -1.4431239366531372 ]
[ -26.806640625, 72.685546875, 47.4609375, 67.763671875, -1.142578125, -1.1618257761001587 ]
2.733333
82
0
82
0
[ -28.916015625, 73.037109375, 52.03125, 66.796875, -0.87890625, -1.4431239366531372 ]
[ -27.24609375, 72.685546875, 48.955078125, 67.587890625, -1.142578125, -1.1618257761001587 ]
2.766667
83
0
83
0
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[ -27.685546875, 72.59765625, 50.2734375, 67.412109375, -1.142578125, -1.1618257761001587 ]
2.8
84
0
84
0
[ -29.70703125, 73.037109375, 54.140625, 66.796875, -0.87890625, -1.4431239366531372 ]
[ -28.125, 72.509765625, 51.591796875, 67.412109375, -1.142578125, -1.1618257761001587 ]
2.833333
85
0
85
0
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[ -28.564453125, 72.509765625, 52.91015625, 67.412109375, -1.142578125, -1.1618257761001587 ]
2.866667
86
0
86
0
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[ -28.916015625, 72.509765625, 53.876953125, 67.412109375, -1.142578125, -1.1618257761001587 ]
2.9
87
0
87
0
[ -30.234375, 73.037109375, 56.25, 66.62109375, -0.87890625, -1.4431239366531372 ]
[ -29.267578125, 72.509765625, 54.931640625, 67.32421875, -1.142578125, -1.1618257761001587 ]
2.933333
88
0
88
0
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[ -29.53125, 72.509765625, 55.72265625, 67.32421875, -1.142578125, -1.1618257761001587 ]
2.966667
89
0
89
0
[ -30.234375, 72.94921875, 58.359375, 64.248046875, -0.87890625, -1.4431239366531372 ]
[ -29.70703125, 72.509765625, 56.42578125, 67.236328125, -1.142578125, -1.1618257761001587 ]
3
90
0
90
0
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[ -29.70703125, 72.509765625, 57.216796875, 66.533203125, -1.142578125, -1.1618257761001587 ]
3.033333
91
0
91
0
[ -29.8828125, 72.94921875, 61.259765625, 60.64453125, -0.87890625, -1.4431239366531372 ]
[ -29.70703125, 72.509765625, 58.18359375, 65.478515625, -1.142578125, -1.1618257761001587 ]
3.066667
92
0
92
0
[ -29.70703125, 72.94921875, 62.666015625, 58.7109375, -1.0546875, -1.4431239366531372 ]
[ -29.70703125, 72.509765625, 59.326171875, 64.16015625, -1.142578125, -1.1618257761001587 ]
3.1
93
0
93
0
[ -29.53125, 72.94921875, 64.16015625, 56.77734375, -1.318359375, -1.4431239366531372 ]
[ -29.70703125, 72.509765625, 60.8203125, 62.578125, -1.142578125, -1.1618257761001587 ]
3.133333
94
0
94
0
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[ -29.70703125, 72.509765625, 62.314453125, 60.8203125, -1.23046875, -1.1618257761001587 ]
3.166667
95
0
95
0
[ -28.212890625, 72.94921875, 67.1484375, 53.4375, -0.966796875, -1.4431239366531372 ]
[ -29.70703125, 72.509765625, 63.80859375, 58.88671875, -1.23046875, -1.1618257761001587 ]
3.2
96
0
96
0
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[ -29.443359375, 72.509765625, 65.126953125, 57.3046875, -1.23046875, -1.1618257761001587 ]
3.233333
97
0
97
0
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[ -29.267578125, 72.509765625, 66.533203125, 55.634765625, -1.23046875, -1.1618257761001587 ]
3.266667
98
0
98
0
[ -26.630859375, 72.94921875, 71.3671875, 49.482421875, -0.966796875, -1.4431239366531372 ]
[ -28.564453125, 72.509765625, 68.02734375, 54.052734375, -1.142578125, -1.1618257761001587 ]
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": 580,
    "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.front": {
            "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": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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