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Datasets:
rookierufus
/
so101_act_pickup

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
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1
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action
list
observation.state
list
timestamp
float32
0
28.6
frame_index
int64
0
572
episode_index
int64
0
0
index
int64
0
572
task_index
int64
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1.8
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1.85
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1.9
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1.95
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2
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2.1
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2.15
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2.2
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2.25
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2.3
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2.35
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2.4
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2.45
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2.5
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2.55
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2.6
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2.65
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2.7
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2.75
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2.8
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2.85
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2.9
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2.95
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3
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3.05
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3.1
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0
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[ -6.593406677246094, -104, 92.52747344970703, 75.95604705810547, 119.69230651855469, 24.509803771972656 ]
3.15
63
0
63
0
[ -6.681318759918213, -103.6043930053711, 96.83516693115234, 76.26373291015625, 119.69230651855469, 0 ]
[ -6.593406677246094, -104, 92.52747344970703, 75.95604705810547, 119.69230651855469, 24.509803771972656 ]
3.2
64
0
64
0
[ -6.681318759918213, -103.6043930053711, 96.83516693115234, 76.26373291015625, 119.69230651855469, 0 ]
[ -6.593406677246094, -104, 92.52747344970703, 75.95604705810547, 119.69230651855469, 24.509803771972656 ]
3.25
65
0
65
0
[ -6.681318759918213, -103.6043930053711, 96.83516693115234, 76.26373291015625, 119.69230651855469, 0 ]
[ -6.593406677246094, -104, 92.52747344970703, 75.95604705810547, 119.69230651855469, 24.509803771972656 ]
3.3
66
0
66
0
[ -6.681318759918213, -103.6043930053711, 96.83516693115234, 76.26373291015625, 119.69230651855469, 0 ]
[ -6.593406677246094, -104, 92.52747344970703, 75.95604705810547, 119.69230651855469, 24.509803771972656 ]
3.35
67
0
67
0
[ -6.681318759918213, -103.6043930053711, 96.83516693115234, 76.26373291015625, 119.69230651855469, 0 ]
[ -6.505494594573975, -104, 92.70330047607422, 75.86813354492188, 120.04395294189453, 24.509803771972656 ]
3.4
68
0
68
0
[ -6.681318759918213, -103.6043930053711, 96.83516693115234, 76.26373291015625, 119.69230651855469, 0 ]
[ -6.153846263885498, -104, 92.87911987304688, 75.86813354492188, 120.21977996826172, 24.509803771972656 ]
3.45
69
0
69
0
[ -6.681318759918213, -103.6043930053711, 96.83516693115234, 76.26373291015625, 119.69230651855469, 0 ]
[ -6.065934181213379, -104, 92.87911987304688, 75.86813354492188, 120.21977996826172, 24.509803771972656 ]
3.5
70
0
70
0
[ -6.681318759918213, -103.6043930053711, 96.83516693115234, 76.26373291015625, 119.69230651855469, 0 ]
[ -5.97802209854126, -104, 92.87911987304688, 75.86813354492188, 120.21977996826172, 24.509803771972656 ]
3.55
71
0
71
0
[ -6.681318759918213, -103.6043930053711, 96.83516693115234, 76.26373291015625, 119.69230651855469, 0 ]
[ -5.97802209854126, -104, 92.87911987304688, 75.86813354492188, 120.21977996826172, 24.509803771972656 ]
3.6
72
0
72
0
[ -6.681318759918213, -103.6043930053711, 96.83516693115234, 76.26373291015625, 119.69230651855469, 0 ]
[ -5.97802209854126, -104, 93.05494689941406, 75.86813354492188, 120.21977996826172, 24.509803771972656 ]
3.65
73
0
73
0
[ -6.681318759918213, -103.6043930053711, 96.83516693115234, 76.26373291015625, 119.69230651855469, 0 ]
[ -5.97802209854126, -104, 93.31867980957031, 75.86813354492188, 120.21977996826172, 24.509803771972656 ]
3.7
74
0
74
0
[ -6.681318759918213, -103.6043930053711, 96.83516693115234, 76.26373291015625, 119.69230651855469, 0 ]
[ -5.97802209854126, -104, 94.10989379882812, 75.86813354492188, 120.21977996826172, 24.379085540771484 ]
3.75
75
0
75
0
[ -6.681318759918213, -103.6043930053711, 96.83516693115234, 76.26373291015625, 119.69230651855469, 0 ]
[ -5.97802209854126, -104, 94.989013671875, 75.86813354492188, 120.13186645507812, 24.3137264251709 ]
3.8
76
0
76
0
[ -6.681318759918213, -103.6043930053711, 96.83516693115234, 76.26373291015625, 119.69230651855469, 0 ]
[ -5.97802209854126, -104, 95.51648712158203, 75.86813354492188, 120.21977996826172, 24.24836540222168 ]
3.85
77
0
77
0
[ -6.681318759918213, -103.6043930053711, 96.83516693115234, 76.26373291015625, 119.69230651855469, 0 ]
[ -5.97802209854126, -104, 95.69230651855469, 75.78022003173828, 120.21977996826172, 24.24836540222168 ]
3.9
78
0
78
0
[ -6.681318759918213, -103.6043930053711, 96.83516693115234, 76.26373291015625, 119.69230651855469, 0 ]
[ -5.97802209854126, -104, 95.78022003173828, 75.78022003173828, 120.21977996826172, 24.24836540222168 ]
3.95
79
0
79
0
[ -6.681318759918213, -103.6043930053711, 96.83516693115234, 76.26373291015625, 119.69230651855469, 0 ]
[ -5.97802209854126, -104, 95.95604705810547, 75.86813354492188, 119.95604705810547, 24.24836540222168 ]
4
80
0
80
0
[ -6.681318759918213, -103.6043930053711, 96.83516693115234, 76.26373291015625, 119.69230651855469, 0 ]
[ -5.97802209854126, -103.82417297363281, 96.57142639160156, 75.95604705810547, 119.86813354492188, 24.24836540222168 ]
4.05
81
0
81
0
[ -6.681318759918213, -103.6043930053711, 96.83516693115234, 76.26373291015625, 119.69230651855469, 0 ]
[ -5.97802209854126, -103.82417297363281, 96.74725341796875, 75.95604705810547, 119.78022003173828, 24.24836540222168 ]
4.1
82
0
82
0
[ -6.681318759918213, -103.6043930053711, 96.83516693115234, 76.26373291015625, 119.69230651855469, 0 ]
[ -5.97802209854126, -103.82417297363281, 96.74725341796875, 75.95604705810547, 119.78022003173828, 24.24836540222168 ]
4.15
83
0
83
0
[ -6.681318759918213, -103.6043930053711, 96.83516693115234, 76.26373291015625, 119.69230651855469, 0 ]
[ -5.890110015869141, -103.82417297363281, 96.48351287841797, 75.95604705810547, 119.78022003173828, 24.24836540222168 ]
4.2
84
0
84
0
[ -6.681318759918213, -103.6043930053711, 96.83516693115234, 76.26373291015625, 119.69230651855469, 0 ]
[ -5.890110015869141, -103.9120864868164, 96.21977996826172, 75.95604705810547, 119.78022003173828, 24.3137264251709 ]
4.25
85
0
85
0
[ -6.681318759918213, -103.6043930053711, 96.83516693115234, 76.26373291015625, 119.69230651855469, 0 ]
[ -5.450549602508545, -103.9120864868164, 96.13186645507812, 75.95604705810547, 119.78022003173828, 24.3137264251709 ]
4.3
86
0
86
0
[ -6.681318759918213, -103.6043930053711, 96.83516693115234, 76.26373291015625, 119.69230651855469, 0 ]
[ -5.274725437164307, -104, 95.95604705810547, 75.86813354492188, 119.78022003173828, 24.379085540771484 ]
4.35
87
0
87
0
[ -6.681318759918213, -103.6043930053711, 96.83516693115234, 76.26373291015625, 119.69230651855469, 0 ]
[ -5.010989189147949, -104.26373291015625, 95.78022003173828, 75.69230651855469, 119.86813354492188, 24.379085540771484 ]
4.4
88
0
88
0
[ -6.681318759918213, -103.6043930053711, 96.83516693115234, 76.26373291015625, 119.69230651855469, 0 ]
[ -5.010989189147949, -104.52747344970703, 95.78022003173828, 75.51648712158203, 119.95604705810547, 24.379085540771484 ]
4.45
89
0
89
0
[ -6.681318759918213, -103.6043930053711, 96.83516693115234, 76.26373291015625, 119.69230651855469, 0 ]
[ -5.098901271820068, -104.52747344970703, 95.78022003173828, 75.42857360839844, 120.13186645507812, 24.379085540771484 ]
4.5
90
0
90
0
[ -6.681318759918213, -103.6043930053711, 96.83516693115234, 76.26373291015625, 119.69230651855469, 0 ]
[ -5.274725437164307, -104.52747344970703, 95.69230651855469, 75.42857360839844, 120.13186645507812, 24.117647171020508 ]
4.55
91
0
91
0
[ -6.681318759918213, -103.6043930053711, 96.83516693115234, 76.26373291015625, 119.69230651855469, 0 ]
[ -5.362637519836426, -104.52747344970703, 95.69230651855469, 75.51648712158203, 119.86813354492188, 23.267972946166992 ]
4.6
92
0
92
0
[ -6.681318759918213, -103.6043930053711, 96.83516693115234, 76.26373291015625, 119.69230651855469, 0 ]
[ -6.065934181213379, -104.35164642333984, 96.83516693115234, 75.69230651855469, 120.13186645507812, 21.764705657958984 ]
4.65
93
0
93
0
[ -6.681318759918213, -103.6043930053711, 96.83516693115234, 76.26373291015625, 119.69230651855469, 0 ]
[ -6.065934181213379, -103.82417297363281, 97.27472686767578, 76.04395294189453, 119.86813354492188, 20.130718231201172 ]
4.7
94
0
94
0
[ -6.681318759918213, -103.6043930053711, 96.83516693115234, 76.26373291015625, 119.69230651855469, 0 ]
[ -6.329670429229736, -104, 97.36264038085938, 76.04395294189453, 120.04395294189453, 18.496732711791992 ]
4.75
95
0
95
0
[ -6.681318759918213, -103.6043930053711, 96.83516693115234, 76.26373291015625, 119.69230651855469, 0 ]
[ -6.153846263885498, -103.82417297363281, 97.36264038085938, 76.04395294189453, 119.86813354492188, 16.732027053833008 ]
4.8
96
0
96
0
[ -6.681318759918213, -103.6043930053711, 96.83516693115234, 76.26373291015625, 119.69230651855469, 0 ]
[ -6.241758346557617, -103.82417297363281, 97.36264038085938, 76.04395294189453, 119.86813354492188, 15.032679557800293 ]
4.85
97
0
97
0
[ -6.681318759918213, -103.6043930053711, 96.83516693115234, 76.26373291015625, 119.69230651855469, 0 ]
[ -6.329670429229736, -103.82417297363281, 97.36264038085938, 76.04395294189453, 119.95604705810547, 13.398693084716797 ]
4.9
98
0
98
0
[ -6.681318759918213, -103.6043930053711, 96.83516693115234, 76.26373291015625, 119.69230651855469, 0 ]
[ -6.329670429229736, -103.82417297363281, 97.36264038085938, 76.04395294189453, 119.86813354492188, 11.764705657958984 ]
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": "so_follower",
    "total_episodes": 1,
    "total_frames": 573,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:1"
    },
    "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": [
                6
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.images.top": {
            "dtype": "video",
            "shape": [
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                640,
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            "names": [
                "height",
                "width",
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            "info": {
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                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.wrist": {
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            "shape": [
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            "names": [
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                "width",
                "channels"
            ],
            "info": {
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                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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        "episode_index": {
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        "index": {
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            "names": null
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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