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Datasets:
mfyu
/
so101_white_box_nums_20

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so101
tutorial
Libraries:
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Dask
License:
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observation.state
list
timestamp
float32
0
29.8
frame_index
int64
0
893
episode_index
int64
0
28
index
int64
0
22.2k
task_index
int64
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0
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[ -80.15625, 138.1640625, 117.24609375, 78.75, 37.96875, 49.79253005981445 ]
2.466667
74
0
74
0
[ -79.8046875, 126.650390625, 105.29296875, 84.19921875, 38.232421875, 49.873416900634766 ]
[ -80.244140625, 135.3515625, 114.873046875, 79.8046875, 37.96875, 49.79253005981445 ]
2.5
75
0
75
0
[ -79.8046875, 124.365234375, 103.095703125, 85.78125, 38.232421875, 49.873416900634766 ]
[ -80.244140625, 132.626953125, 112.587890625, 81.2109375, 37.96875, 49.79253005981445 ]
2.533333
76
0
76
0
[ -79.8046875, 122.16796875, 100.810546875, 87.36328125, 38.232421875, 49.95780563354492 ]
[ -80.244140625, 129.90234375, 110.126953125, 82.705078125, 37.96875, 49.79253005981445 ]
2.566667
77
0
77
0
[ -79.8046875, 119.794921875, 98.701171875, 88.857421875, 38.232421875, 49.95780563354492 ]
[ -80.244140625, 127.6171875, 108.10546875, 83.84765625, 37.96875, 49.79253005981445 ]
2.6
78
0
78
0
[ -79.8046875, 117.509765625, 96.416015625, 90.263671875, 38.232421875, 49.95780563354492 ]
[ -80.244140625, 125.15625, 105.8203125, 85.25390625, 37.96875, 49.79253005981445 ]
2.633333
79
0
79
0
[ -79.716796875, 115.3125, 94.39453125, 91.494140625, 38.14453125, 49.95780563354492 ]
[ -80.244140625, 122.6953125, 103.53515625, 86.572265625, 37.96875, 49.79253005981445 ]
2.666667
80
0
80
0
[ -79.62890625, 113.02734375, 92.373046875, 92.548828125, 38.056640625, 49.95780563354492 ]
[ -80.244140625, 120.41015625, 101.337890625, 88.154296875, 37.96875, 49.79253005981445 ]
2.7
81
0
81
0
[ -79.62890625, 110.654296875, 90.17578125, 93.69140625, 37.880859375, 49.95780563354492 ]
[ -80.244140625, 117.94921875, 98.96484375, 89.560546875, 37.96875, 49.79253005981445 ]
2.733333
82
0
82
0
[ -79.541015625, 108.45703125, 88.06640625, 94.658203125, 37.705078125, 49.95780563354492 ]
[ -80.244140625, 115.6640625, 96.943359375, 90.791015625, 37.96875, 49.79253005981445 ]
2.766667
83
0
83
0
[ -79.541015625, 106.34765625, 86.044921875, 95.625, 37.529296875, 49.95780563354492 ]
[ -80.15625, 113.291015625, 94.921875, 91.93359375, 37.96875, 49.79253005981445 ]
2.8
84
0
84
0
[ -79.541015625, 104.326171875, 83.935546875, 96.50390625, 37.44140625, 49.95780563354492 ]
[ -79.98046875, 110.91796875, 92.63671875, 93.076171875, 37.96875, 49.79253005981445 ]
2.833333
85
0
85
0
[ -79.541015625, 102.3046875, 81.9140625, 97.470703125, 37.44140625, 49.95780563354492 ]
[ -79.98046875, 108.720703125, 90.52734375, 94.04296875, 37.880859375, 49.79253005981445 ]
2.866667
86
0
86
0
[ -79.541015625, 100.37109375, 79.892578125, 98.525390625, 37.353515625, 49.95780563354492 ]
[ -79.892578125, 106.34765625, 88.59375, 95.009765625, 37.79296875, 49.79253005981445 ]
2.9
87
0
87
0
[ -79.541015625, 98.525390625, 77.87109375, 99.4921875, 37.353515625, 49.95780563354492 ]
[ -79.98046875, 104.23828125, 86.484375, 95.9765625, 37.79296875, 49.79253005981445 ]
2.933333
88
0
88
0
[ -79.541015625, 96.6796875, 75.849609375, 100.37109375, 37.265625, 49.95780563354492 ]
[ -79.98046875, 102.216796875, 84.287109375, 97.03125, 37.705078125, 49.79253005981445 ]
2.966667
89
0
89
0
[ -79.541015625, 94.833984375, 73.828125, 101.513671875, 37.265625, 49.95780563354492 ]
[ -79.98046875, 100.1953125, 82.353515625, 97.998046875, 37.6171875, 49.79253005981445 ]
3
90
0
90
0
[ -79.541015625, 93.076171875, 71.89453125, 102.392578125, 37.265625, 49.95780563354492 ]
[ -79.98046875, 98.0859375, 80.068359375, 98.61328125, 37.44140625, 49.79253005981445 ]
3.033333
91
0
91
0
[ -79.541015625, 91.40625, 70.048828125, 103.0078125, 37.08984375, 49.95780563354492 ]
[ -79.98046875, 96.328125, 78.22265625, 99.404296875, 37.44140625, 49.79253005981445 ]
3.066667
92
0
92
0
[ -79.541015625, 89.82421875, 68.466796875, 103.095703125, 36.2109375, 49.95780563354492 ]
[ -79.98046875, 94.482421875, 76.376953125, 99.84375, 37.44140625, 49.79253005981445 ]
3.1
93
0
93
0
[ -79.453125, 88.330078125, 66.884765625, 103.095703125, 35.33203125, 50.04219436645508 ]
[ -79.98046875, 92.724609375, 74.35546875, 100.01953125, 37.44140625, 49.79253005981445 ]
3.133333
94
0
94
0
[ -79.453125, 87.01171875, 65.21484375, 103.095703125, 34.892578125, 50.04219436645508 ]
[ -79.98046875, 90.966796875, 72.685546875, 100.01953125, 36.9140625, 49.79253005981445 ]
3.166667
95
0
95
0
[ -79.27734375, 85.78125, 63.984375, 103.095703125, 34.541015625, 50.04219436645508 ]
[ -79.98046875, 89.296875, 70.927734375, 100.01953125, 36.123046875, 49.79253005981445 ]
3.2
96
0
96
0
[ -78.662109375, 84.7265625, 62.841796875, 103.095703125, 34.541015625, 50.04219436645508 ]
[ -79.98046875, 87.802734375, 69.2578125, 100.01953125, 35.595703125, 49.79253005981445 ]
3.233333
97
0
97
0
[ -78.310546875, 83.759765625, 61.875, 103.095703125, 34.453125, 50.04219436645508 ]
[ -79.892578125, 86.484375, 67.763671875, 100.01953125, 35.244140625, 49.79253005981445 ]
3.266667
98
0
98
0
[ -78.046875, 82.705078125, 61.259765625, 103.095703125, 34.189453125, 50.04219436645508 ]
[ -79.541015625, 85.25390625, 66.533203125, 100.01953125, 34.98046875, 49.79253005981445 ]
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": 11,
    "total_frames": 7535,
    "total_tasks": 1,
    "total_videos": 22,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:11"
    },
    "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.laptop": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
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                640,
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            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 400,
                "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": {
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            "names": null
        },
        "index": {
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                1
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
22,151