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rocach94
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so101_dataset_v3_with_wall

Tasks:
Robotics
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Tabular
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Size:
10K - 100K
Tags:
LeRobot
so101
tutorial
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action
list
observation.state
list
timestamp
float32
0
20.1
frame_index
int64
0
602
episode_index
int64
0
50
index
int64
0
25.9k
task_index
int64
0
0
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[ -8.0859375, 160.048828125, 142.119140625, 71.982421875, -3.251953125, 12.532188415527344 ]
2.366667
71
0
71
0
[ -9.31640625, 146.865234375, 134.6484375, 72.158203125, -3.33984375, 20.280296325683594 ]
[ -8.7890625, 157.236328125, 140.80078125, 71.982421875, -3.1640625, 14.420600891113281 ]
2.4
72
0
72
0
[ -9.404296875, 144.580078125, 133.76953125, 72.158203125, -3.251953125, 21.1871395111084 ]
[ -9.31640625, 153.720703125, 139.21875, 71.982421875, -3.603515625, 16.48068618774414 ]
2.433333
73
0
73
0
[ -9.404296875, 142.470703125, 132.978515625, 72.158203125, -3.1640625, 21.434459686279297 ]
[ -9.228515625, 148.359375, 137.28515625, 71.982421875, -3.603515625, 18.96995735168457 ]
2.466667
74
0
74
0
[ -9.404296875, 140.009765625, 132.275390625, 72.158203125, -2.63671875, 21.434459686279297 ]
[ -9.140625, 147.744140625, 137.021484375, 71.982421875, -3.603515625, 19.141630172729492 ]
2.5
75
0
75
0
[ -9.404296875, 138.1640625, 131.923828125, 72.158203125, -1.318359375, 21.434459686279297 ]
[ -8.876953125, 145.37109375, 135.966796875, 71.982421875, -3.603515625, 19.828325271606445 ]
2.533333
76
0
76
0
[ -9.404296875, 136.318359375, 131.66015625, 72.24609375, -0.263671875, 21.434459686279297 ]
[ -8.876953125, 142.734375, 135.17578125, 71.982421875, -3.076171875, 20.343347549438477 ]
2.566667
77
0
77
0
[ -9.404296875, 134.912109375, 131.66015625, 72.509765625, 0.52734375, 21.434459686279297 ]
[ -8.96484375, 140.625, 134.6484375, 71.982421875, -2.109375, 20.600858688354492 ]
2.6
78
0
78
0
[ -9.404296875, 133.681640625, 131.66015625, 72.94921875, 1.318359375, 21.434459686279297 ]
[ -9.052734375, 138.779296875, 134.296875, 71.982421875, -1.318359375, 20.858369827270508 ]
2.633333
79
0
79
0
[ -9.404296875, 132.626953125, 131.66015625, 73.388671875, 2.63671875, 21.434459686279297 ]
[ -9.140625, 137.021484375, 134.033203125, 72.158203125, -0.52734375, 20.94420623779297 ]
2.666667
80
0
80
0
[ -9.4921875, 131.748046875, 131.66015625, 73.828125, 3.955078125, 21.434459686279297 ]
[ -9.228515625, 135.439453125, 133.9453125, 72.59765625, 0.263671875, 20.94420623779297 ]
2.7
81
0
81
0
[ -9.4921875, 131.044921875, 131.66015625, 74.53125, 5.09765625, 21.434459686279297 ]
[ -9.228515625, 134.208984375, 133.9453125, 72.94921875, 1.40625, 20.94420623779297 ]
2.733333
82
0
82
0
[ -9.4921875, 130.517578125, 131.923828125, 75.498046875, 6.064453125, 21.434459686279297 ]
[ -9.228515625, 132.978515625, 133.9453125, 73.564453125, 2.63671875, 20.94420623779297 ]
2.766667
83
0
83
0
[ -9.4921875, 129.990234375, 132.01171875, 76.46484375, 6.85546875, 21.434459686279297 ]
[ -9.31640625, 132.099609375, 133.9453125, 74.1796875, 3.603515625, 20.94420623779297 ]
2.8
84
0
84
0
[ -9.4921875, 129.462890625, 132.099609375, 77.431640625, 7.646484375, 21.434459686279297 ]
[ -9.31640625, 131.396484375, 133.9453125, 74.8828125, 4.658203125, 20.94420623779297 ]
2.833333
85
0
85
0
[ -9.4921875, 128.935546875, 132.01171875, 78.046875, 8.349609375, 21.434459686279297 ]
[ -9.31640625, 130.693359375, 133.857421875, 75.849609375, 5.537109375, 20.94420623779297 ]
2.866667
86
0
86
0
[ -9.580078125, 128.583984375, 131.748046875, 78.22265625, 8.701171875, 21.434459686279297 ]
[ -9.31640625, 129.90234375, 133.857421875, 76.728515625, 6.591796875, 20.94420623779297 ]
2.9
87
0
87
0
[ -9.66796875, 128.232421875, 131.66015625, 78.22265625, 9.228515625, 21.434459686279297 ]
[ -9.31640625, 129.462890625, 133.857421875, 77.080078125, 7.20703125, 20.94420623779297 ]
2.933333
88
0
88
0
[ -9.931640625, 127.96875, 131.66015625, 78.134765625, 10.1953125, 21.434459686279297 ]
[ -9.31640625, 128.935546875, 133.857421875, 77.431640625, 7.91015625, 20.94420623779297 ]
2.966667
89
0
89
0
[ -10.458984375, 127.79296875, 131.572265625, 77.87109375, 11.25, 21.434459686279297 ]
[ -9.404296875, 128.583984375, 133.857421875, 77.51953125, 8.4375, 20.94420623779297 ]
3
90
0
90
0
[ -10.8984375, 127.705078125, 131.220703125, 77.783203125, 12.216796875, 21.434459686279297 ]
[ -9.404296875, 128.232421875, 133.857421875, 77.607421875, 9.228515625, 20.94420623779297 ]
3.033333
91
0
91
0
[ -11.07421875, 127.6171875, 130.78125, 77.51953125, 13.271484375, 21.26957893371582 ]
[ -9.66796875, 127.96875, 133.857421875, 77.607421875, 10.283203125, 20.94420623779297 ]
3.066667
92
0
92
0
[ -11.6015625, 127.265625, 130.25390625, 77.255859375, 14.326171875, 21.104698181152344 ]
[ -10.1953125, 127.79296875, 133.681640625, 77.6953125, 11.42578125, 20.94420623779297 ]
3.1
93
0
93
0
[ -12.12890625, 126.9140625, 129.375, 77.16796875, 15.1171875, 20.9398193359375 ]
[ -10.986328125, 127.705078125, 133.154296875, 77.6953125, 11.865234375, 20.94420623779297 ]
3.133333
94
0
94
0
[ -12.65625, 126.474609375, 128.3203125, 77.080078125, 15.908203125, 20.9398193359375 ]
[ -11.6015625, 127.44140625, 132.626953125, 77.607421875, 13.0078125, 20.94420623779297 ]
3.166667
95
0
95
0
[ -13.18359375, 126.03515625, 127.177734375, 77.080078125, 16.5234375, 20.857378005981445 ]
[ -11.953125, 127.001953125, 131.923828125, 77.51953125, 13.88671875, 20.94420623779297 ]
3.2
96
0
96
0
[ -13.623046875, 125.419921875, 126.123046875, 77.080078125, 16.787109375, 20.857378005981445 ]
[ -12.12890625, 126.5625, 131.1328125, 77.51953125, 14.765625, 20.94420623779297 ]
3.233333
97
0
97
0
[ -14.0625, 124.716796875, 125.068359375, 76.81640625, 16.787109375, 21.104698181152344 ]
[ -12.216796875, 126.123046875, 129.990234375, 77.51953125, 15.556640625, 20.94420623779297 ]
3.266667
98
0
98
0
[ -14.326171875, 123.837890625, 124.27734375, 76.025390625, 16.875, 21.104698181152344 ]
[ -12.744140625, 125.68359375, 129.111328125, 77.51953125, 16.34765625, 20.94420623779297 ]
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": 51,
    "total_frames": 25895,
    "total_tasks": 1,
    "total_videos": 102,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:51"
    },
    "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": [
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            "info": {
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                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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        "observation.images.phone": {
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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",
                "video.is_depth_map": false,
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                "video.channels": 3,
                "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
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        "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:
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