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Datasets:
nuoyihan
/
approach_left_hand

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Libraries:
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pandas
License:
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action
list
observation.state
list
timestamp
float32
0
12.4
frame_index
int64
0
248
episode_index
int64
0
4
index
int64
0
1.13k
task_index
int64
0
0
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[ 12.15226936340332, -97.29286193847656, 63.5883903503418, 70.5536880493164, 11.883757591247559, 2.747650146484375 ]
[ 11.73469352722168, -97.9345932006836, 70.21089935302734, 72.48854064941406, 12.388250350952148, 3.6821706295013428 ]
2.9
58
0
58
0
[ 12.518301963806152, -96.9647216796875, 61.21371841430664, 68.62416076660156, 11.883757591247559, 2.747650146484375 ]
[ 11.73469352722168, -97.9345932006836, 68.36555480957031, 71.90496063232422, 12.388250350952148, 3.6821706295013428 ]
2.95
59
0
59
0
[ 13.543191909790039, -95.48810577392578, 58.13544464111328, 65.9395980834961, 11.572392463684082, 2.747650146484375 ]
[ 11.80757999420166, -97.8485336303711, 66.60808563232422, 70.9879150390625, 12.388250350952148, 3.6821706295013428 ]
3
60
0
60
0
[ 14.49487590789795, -91.87858581542969, 54.61741256713867, 62.583892822265625, 11.572392463684082, 2.747650146484375 ]
[ 12.317784309387207, -97.24612426757812, 64.32337188720703, 69.5706558227539, 12.286079406738281, 3.6821706295013428 ]
3.05
61
0
61
0
[ 15.812591552734375, -86.13617706298828, 51.89094161987305, 58.64093780517578, 11.520498275756836, 2.747650146484375 ]
[ 13.11953353881836, -96.21342468261719, 61.51142501831055, 67.2363510131836, 12.132822036743164, 3.6821706295013428 ]
3.1
62
0
62
0
[ 17.86237144470215, -78.50697326660156, 47.93315887451172, 54.44630813598633, 11.520498275756836, 2.747650146484375 ]
[ 13.994169235229492, -93.63166809082031, 58.34798049926758, 64.56857299804688, 12.08173656463623, 3.6821706295013428 ]
3.15
63
0
63
0
[ 20.058565139770508, -69.72928619384766, 42.65611267089844, 51.59395980834961, 11.520498275756836, 2.747650146484375 ]
[ 15.08746337890625, -89.50086212158203, 55.36028289794922, 60.983741760253906, 12.08173656463623, 3.6821706295013428 ]
3.2
64
0
64
0
[ 21.88872528076172, -60.62346267700195, 35.532100677490234, 50.838924407958984, 11.520498275756836, 2.747650146484375 ]
[ 16.90962028503418, -83.90705871582031, 52.10896301269531, 57.315547943115234, 12.08173656463623, 3.6821706295013428 ]
3.25
65
0
65
0
[ 23.572473526000977, -52.09187698364258, 27.616535186767578, 51.510066986083984, 11.46860408782959, 2.747650146484375 ]
[ 18.87755012512207, -76.85025787353516, 47.71529006958008, 54.31429672241211, 12.030651092529297, 3.6821706295013428 ]
3.3
66
0
66
0
[ 25.329429626464844, -43.97046661376953, 19.876869201660156, 53.94295120239258, 11.46860408782959, 2.747650146484375 ]
[ 20.626821517944336, -68.84681701660156, 42.26713562011719, 53.14714431762695, 11.979565620422363, 3.6821706295013428 ]
3.35
67
0
67
0
[ 27.59882926940918, -36.505332946777344, 13.01671028137207, 56.71141052246094, 11.46860408782959, 2.747650146484375 ]
[ 22.3760929107666, -60.240962982177734, 35.6766242980957, 53.063777923583984, 11.979565620422363, 3.6821706295013428 ]
3.4
68
0
68
0
[ 30.307466506958008, -30.270713806152344, 6.420404434204102, 59.899330139160156, 11.46860408782959, 2.747650146484375 ]
[ 24.052478790283203, -51.893287658691406, 28.734622955322266, 54.23093032836914, 11.92848014831543, 3.6821706295013428 ]
3.45
69
0
69
0
[ 33.60175704956055, -25.51271629333496, 0, 62.66778564453125, 11.46860408782959, 2.747650146484375 ]
[ 26.166181564331055, -43.71772766113281, 21.616870880126953, 56.31513214111328, 11.877394676208496, 3.6821706295013428 ]
3.5
70
0
70
0
[ 37.55490493774414, -21.7391300201416, -5.980650901794434, 65.35234832763672, 11.46860408782959, 2.747650146484375 ]
[ 28.571428298950195, -36.05852127075195, 14.6748685836792, 58.8161735534668, 11.877394676208496, 3.6821706295013428 ]
3.55
71
0
71
0
[ 41.434844970703125, -18.6218204498291, -11.5215482711792, 67.53355407714844, 11.46860408782959, 2.747650146484375 ]
[ 31.486881256103516, -29.5180721282959, 7.996485233306885, 61.483951568603516, 11.877394676208496, 3.6821706295013428 ]
3.6
72
0
72
0
[ 44.65592956542969, -16.078752517700195, -17.06244468688965, 69.63087463378906, 11.624286651611328, 2.747650146484375 ]
[ 34.91253662109375, -24.35456085205078, 1.4938488006591797, 64.068359375, 11.877394676208496, 3.6821706295013428 ]
3.65
73
0
73
0
[ 47.364566802978516, -13.863822937011719, -21.723834991455078, 71.14093780517578, 11.987545013427734, 2.747650146484375 ]
[ 38.41107940673828, -20.137693405151367, -4.569419860839844, 66.23593139648438, 11.877394676208496, 3.6821706295013428 ]
3.7
74
0
74
0
[ 50.07320785522461, -11.730926513671875, -26.12137222290039, 72.39933013916016, 12.45459270477295, 2.747650146484375 ]
[ 41.836734771728516, -17.039587020874023, -10.456941604614258, 68.40350341796875, 11.877394676208496, 3.6821706295013428 ]
3.75
75
0
75
0
[ 52.489017486572266, -10.25430679321289, -28.67194366455078, 73.74160766601562, 13.336792945861816, 2.747650146484375 ]
[ 44.97084426879883, -14.285714149475098, -15.905097007751465, 70.07086181640625, 11.979565620422363, 3.6821706295013428 ]
3.8
76
0
76
0
[ 54.61200714111328, -8.449548721313477, -29.023746490478516, 74.49664306640625, 14.374675750732422, 2.747650146484375 ]
[ 47.813411712646484, -12.048192977905273, -20.6502628326416, 71.57148742675781, 12.286079406738281, 3.6821706295013428 ]
3.85
77
0
77
0
[ 56.66178512573242, -6.152584075927734, -28.05628776550293, 75, 15.51634693145752, 2.747650146484375 ]
[ 50.36443328857422, -10.24096393585205, -23.901580810546875, 72.9887466430664, 12.796935081481934, 3.6821706295013428 ]
3.9
78
0
78
0
[ 58.2723274230957, -3.7735848426818848, -26.561126708984375, 75.3355712890625, 16.554229736328125, 2.747650146484375 ]
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3.95
79
0
79
0
[ 59.44363021850586, -1.8047579526901245, -24.538259506225586, 75.50335693359375, 17.3326416015625, 2.747650146484375 ]
[ 54.81049728393555, -6.4543890953063965, -25.395431518554688, 74.6561050415039, 14.738186836242676, 3.6821706295013428 ]
4
80
0
80
0
[ 60.10248947143555, 0.24610336124897003, -21.811784744262695, 74.91610717773438, 17.540218353271484, 2.747650146484375 ]
[ 56.55976486206055, -3.872633457183838, -25.307558059692383, 75.07294464111328, 15.75989818572998, 3.6821706295013428 ]
4.05
81
0
81
0
[ 60.2489013671875, 2.050861358642578, -19.70096778869629, 74.24496459960938, 17.695899963378906, 2.747650146484375 ]
[ 58.017494201660156, -1.807228922843933, -23.81370735168457, 75.07294464111328, 16.526182174682617, 3.6821706295013428 ]
4.1
82
0
82
0
[ 60.175697326660156, 3.199343681335449, -17.766050338745117, 72.98657989501953, 17.695899963378906, 2.747650146484375 ]
[ 58.892127990722656, 0.2581755518913269, -21.704744338989258, 74.90621185302734, 16.934865951538086, 3.6821706295013428 ]
4.15
83
0
83
0
[ 59.73645782470703, 4.265791416168213, -16.27088737487793, 72.65100860595703, 17.695899963378906, 2.747650146484375 ]
[ 59.329444885253906, 2.4096386432647705, -19.68365478515625, 74.406005859375, 17.19029426574707, 3.6821706295013428 ]
4.2
84
0
84
0
[ 59.370426177978516, 5.004101753234863, -14.687774658203125, 72.06375885009766, 17.695899963378906, 2.747650146484375 ]
[ 59.4752197265625, 3.7865748405456543, -17.574691772460938, 73.57231903076172, 17.343549728393555, 3.6821706295013428 ]
4.25
85
0
85
0
[ 58.19912338256836, 5.16817045211792, -13.368514060974121, 72.2315444946289, 17.695899963378906, 2.747650146484375 ]
[ 59.4023323059082, 4.905335426330566, -16.080842971801758, 72.9887466430664, 17.394636154174805, 3.6821706295013428 ]
4.3
86
0
86
0
[ 56.954612731933594, 5.7424116134643555, -11.873351097106934, 72.14765167236328, 17.695899963378906, 2.747650146484375 ]
[ 59.329444885253906, 5.507745265960693, -14.411248207092285, 72.6552734375, 17.394636154174805, 3.6821706295013428 ]
4.35
87
0
87
0
[ 55.71010208129883, 5.988515377044678, -10.817941665649414, 72.06375885009766, 17.74779510498047, 2.747650146484375 ]
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4.4
88
0
88
0
[ 54.53879928588867, 5.988515377044678, -10.46613883972168, 72.06375885009766, 17.695899963378906, 2.747650146484375 ]
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4.45
89
0
89
0
[ 53.294288635253906, 5.988515377044678, -10.026385307312012, 72.06375885009766, 17.488323211669922, 2.747650146484375 ]
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4.5
90
0
90
0
[ 52.34260559082031, 6.070549488067627, -9.938434600830078, 72.06375885009766, 17.3326416015625, 2.747650146484375 ]
[ 54.88338088989258, 6.54044771194458, -10.193321228027344, 72.57190704345703, 17.394636154174805, 3.6821706295013428 ]
4.55
91
0
91
0
[ 51.756954193115234, 6.234618663787842, -9.49868106842041, 71.97986602783203, 17.3326416015625, 2.747650146484375 ]
[ 53.717201232910156, 6.54044771194458, -9.92970085144043, 72.40516662597656, 17.394636154174805, 3.6821706295013428 ]
4.6
92
0
92
0
[ 51.46413040161133, 6.972928524017334, -9.058926582336426, 71.97986602783203, 17.3326416015625, 2.747650146484375 ]
[ 52.76968002319336, 6.54044771194458, -9.578207015991211, 72.40516662597656, 17.394636154174805, 3.6821706295013428 ]
4.65
93
0
93
0
[ 51.46413040161133, 8.531582832336426, -8.619173049926758, 71.97986602783203, 17.540218353271484, 2.747650146484375 ]
[ 52.25947570800781, 6.712564468383789, -9.138839721679688, 72.23843383789062, 17.394636154174805, 3.6821706295013428 ]
4.7
94
0
94
0
[ 52.049781799316406, 10.25430679321289, -8.883025169372559, 71.97986602783203, 17.695899963378906, 2.747650146484375 ]
[ 51.895042419433594, 7.659208297729492, -8.787345886230469, 72.23843383789062, 17.394636154174805, 3.6821706295013428 ]
4.75
95
0
95
0
[ 52.489017486572266, 12.305168151855469, -9.674582481384277, 71.97986602783203, 17.74779510498047, 2.747650146484375 ]
[ 51.749271392822266, 9.294320106506348, -8.523725509643555, 72.23843383789062, 17.394636154174805, 3.6821706295013428 ]
4.8
96
0
96
0
[ 53.58711624145508, 14.191960334777832, -10.554089546203613, 71.97986602783203, 17.74779510498047, 2.747650146484375 ]
[ 51.895042419433594, 10.929431915283203, -8.61159896850586, 72.23843383789062, 17.394636154174805, 3.6821706295013428 ]
4.85
97
0
97
0
[ 54.61200714111328, 15.996718406677246, -11.433597564697266, 71.97986602783203, 17.74779510498047, 2.747650146484375 ]
[ 52.186588287353516, 12.650602340698242, -8.699472427368164, 71.65485382080078, 17.394636154174805, 3.6821706295013428 ]
4.9
98
0
98
0
[ 55.41727828979492, 17.801477432250977, -12.401055335998535, 71.8959732055664, 17.7996883392334, 2.747650146484375 ]
[ 52.842567443847656, 14.371772766113281, -9.314586639404297, 71.48812103271484, 17.394636154174805, 3.6821706295013428 ]
4.95
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "so101_follower",
    "total_episodes": 5,
    "total_frames": 1133,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 20,
    "splits": {
        "train": "0:5"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
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        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
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        },
        "observation.images.env": {
            "dtype": "video",
            "shape": [
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            "names": [
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            "info": {
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        "observation.images.wrist": {
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            "names": [
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                "channels"
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            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Number of rows:
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