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Datasets:
marioblz
/
so101_test22

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
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Size:
1K - 10K
Tags:
LeRobot
so101
tutorial
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action
sequence
observation.state
sequence
timestamp
float32
0
19.5
frame_index
int64
0
584
episode_index
int64
0
4
index
int64
0
2.06k
task_index
int64
0
0
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[ -10.01953125, 142.55859375, 163.916015625, 55.1953125, -39.55078125, 2.354788064956665 ]
[ -9.31640625, 143.0859375, 165.05859375, 56.337890625, -39.814453125, 2.0451340675354004 ]
2.4
72
0
72
0
[ -10.01953125, 142.55859375, 163.916015625, 55.1953125, -39.55078125, 2.354788064956665 ]
[ -9.31640625, 143.0859375, 165.05859375, 56.337890625, -39.814453125, 2.0451340675354004 ]
2.433333
73
0
73
0
[ -10.01953125, 142.55859375, 163.916015625, 55.1953125, -39.55078125, 2.354788064956665 ]
[ -9.31640625, 143.0859375, 165.05859375, 56.337890625, -39.814453125, 2.0451340675354004 ]
2.466667
74
0
74
0
[ -10.01953125, 142.55859375, 163.916015625, 55.1953125, -39.55078125, 2.4332809448242188 ]
[ -9.31640625, 143.0859375, 165.05859375, 56.337890625, -39.814453125, 2.0451340675354004 ]
2.5
75
0
75
0
[ -10.01953125, 142.55859375, 163.916015625, 55.1953125, -39.55078125, 2.4332809448242188 ]
[ -9.31640625, 143.0859375, 165.05859375, 56.337890625, -39.814453125, 2.0451340675354004 ]
2.533333
76
0
76
0
[ -10.01953125, 142.55859375, 163.828125, 55.1953125, -39.55078125, 2.4332809448242188 ]
[ -9.31640625, 143.0859375, 165.05859375, 56.337890625, -39.814453125, 2.0451340675354004 ]
2.566667
77
0
77
0
[ -10.01953125, 142.55859375, 163.740234375, 55.1953125, -39.55078125, 2.5117740631103516 ]
[ -9.31640625, 143.0859375, 165.05859375, 56.337890625, -39.814453125, 2.0451340675354004 ]
2.6
78
0
78
0
[ -10.01953125, 142.55859375, 163.388671875, 55.1953125, -39.638671875, 2.8257458209991455 ]
[ -9.31640625, 143.0859375, 165.05859375, 56.337890625, -39.814453125, 2.0451340675354004 ]
2.633333
79
0
79
0
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[ -9.31640625, 143.0859375, 165.05859375, 56.337890625, -39.814453125, 2.0451340675354004 ]
2.666667
80
0
80
0
[ -10.01953125, 142.55859375, 161.54296875, 55.8984375, -39.462890625, 5.259026527404785 ]
[ -9.31640625, 143.0859375, 165.05859375, 56.337890625, -39.814453125, 2.327221393585205 ]
2.7
81
0
81
0
[ -10.01953125, 142.55859375, 160.400390625, 55.986328125, -39.462890625, 7.456828594207764 ]
[ -9.31640625, 143.0859375, 164.794921875, 56.337890625, -39.814453125, 2.8208744525909424 ]
2.733333
82
0
82
0
[ -10.01953125, 142.55859375, 159.08203125, 56.07421875, -39.462890625, 9.811616897583008 ]
[ -9.31640625, 142.998046875, 164.443359375, 56.337890625, -39.814453125, 3.3145275115966797 ]
2.766667
83
0
83
0
[ -10.107421875, 142.55859375, 157.587890625, 56.162109375, -39.462890625, 12.63736343383789 ]
[ -9.31640625, 142.91015625, 164.091796875, 56.337890625, -39.814453125, 4.513399124145508 ]
2.8
84
0
84
0
[ -10.1953125, 142.55859375, 156.005859375, 56.25, -39.462890625, 15.541601181030273 ]
[ -9.31640625, 142.3828125, 163.65234375, 56.337890625, -39.814453125, 6.06488037109375 ]
2.833333
85
0
85
0
[ -10.634765625, 142.55859375, 154.3359375, 56.689453125, -39.462890625, 18.288854598999023 ]
[ -9.404296875, 141.85546875, 162.94921875, 56.337890625, -39.814453125, 7.898448467254639 ]
2.866667
86
0
86
0
[ -11.6015625, 142.55859375, 152.578125, 58.0078125, -39.462890625, 20.95761489868164 ]
[ -9.404296875, 141.85546875, 161.982421875, 56.337890625, -39.814453125, 10.296192169189453 ]
2.9
87
0
87
0
[ -13.095703125, 142.55859375, 150.732421875, 60.1171875, -39.462890625, 23.076923370361328 ]
[ -9.580078125, 141.85546875, 160.927734375, 56.337890625, -39.814453125, 12.411848068237305 ]
2.933333
88
0
88
0
[ -15.380859375, 142.55859375, 148.53515625, 62.75390625, -39.462890625, 25.039247512817383 ]
[ -10.107421875, 141.85546875, 159.609375, 56.689453125, -39.814453125, 14.88011360168457 ]
2.966667
89
0
89
0
[ -18.10546875, 142.55859375, 146.162109375, 65.7421875, -39.375, 27.080062866210938 ]
[ -11.07421875, 141.85546875, 158.115234375, 57.744140625, -39.814453125, 17.277856826782227 ]
3
90
0
90
0
[ -21.09375, 142.55859375, 143.4375, 68.90625, -39.375, 28.806907653808594 ]
[ -12.3046875, 141.85546875, 156.4453125, 59.23828125, -39.814453125, 19.67559814453125 ]
3.033333
91
0
91
0
[ -24.345703125, 142.55859375, 140.625, 71.982421875, -39.375, 30.29827117919922 ]
[ -13.974609375, 141.85546875, 154.51171875, 61.259765625, -39.814453125, 21.86177635192871 ]
3.066667
92
0
92
0
[ -27.333984375, 142.55859375, 137.373046875, 74.70703125, -39.287109375, 31.55415916442871 ]
[ -15.908203125, 141.85546875, 152.490234375, 63.369140625, -39.814453125, 24.047954559326172 ]
3.1
93
0
93
0
[ -30.234375, 142.55859375, 134.208984375, 77.16796875, -39.287109375, 32.57456588745117 ]
[ -18.28125, 141.85546875, 150.205078125, 65.91796875, -39.814453125, 26.022567749023438 ]
3.133333
94
0
94
0
[ -32.958984375, 142.20703125, 131.044921875, 79.453125, -39.287109375, 33.281005859375 ]
[ -20.91796875, 141.85546875, 147.744140625, 68.466796875, -39.814453125, 27.7150936126709 ]
3.166667
95
0
95
0
[ -35.15625, 141.767578125, 127.705078125, 81.2109375, -39.287109375, 33.75196075439453 ]
[ -23.73046875, 141.85546875, 145.01953125, 71.279296875, -39.814453125, 29.266571044921875 ]
3.2
96
0
96
0
[ -37.08984375, 141.591796875, 124.716796875, 82.6171875, -39.287109375, 33.98744201660156 ]
[ -26.3671875, 141.85546875, 142.119140625, 73.740234375, -39.814453125, 30.465444564819336 ]
3.233333
97
0
97
0
[ -38.935546875, 141.240234375, 121.640625, 84.19921875, -39.287109375, 33.98744201660156 ]
[ -29.1796875, 141.85546875, 139.130859375, 76.201171875, -39.814453125, 31.523271560668945 ]
3.266667
98
0
98
0
[ -40.78125, 140.44921875, 119.00390625, 85.4296875, -39.287109375, 33.98744201660156 ]
[ -31.9921875, 141.767578125, 136.0546875, 78.310546875, -39.814453125, 32.22848892211914 ]
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": 5,
    "total_frames": 2057,
    "total_tasks": 1,
    "total_videos": 10,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:5"
    },
    "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": [
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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.webcam1": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
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            "info": {
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                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
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                "has_audio": false
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        },
        "observation.images.webcam2": {
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            "shape": [
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                640,
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            "names": [
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                "channels"
            ],
            "info": {
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                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
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                "video.is_depth_map": false,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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