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rshoff
/
so101_test_2

Tasks:
Robotics
Modalities:
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Size:
1K - 10K
Tags:
LeRobot
so101
tutorial
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action
sequence
observation.state
sequence
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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2.333333
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2.4
72
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0
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[ 4.21875, 77.958984375, 101.337890625, 55.107421875, -2.109375, 19.383562088012695 ]
2.433333
73
0
73
0
[ 3.779296875, 73.125, 96.50390625, 54.580078125, -2.373046875, 19.1953067779541 ]
[ 4.21875, 76.376953125, 100.37109375, 55.107421875, -2.109375, 19.383562088012695 ]
2.466667
74
0
74
0
[ 3.779296875, 72.158203125, 96.064453125, 54.580078125, -2.373046875, 19.11148452758789 ]
[ 4.21875, 74.794921875, 99.4921875, 55.107421875, -2.109375, 19.383562088012695 ]
2.5
75
0
75
0
[ 3.779296875, 71.455078125, 95.625, 54.755859375, -2.373046875, 18.943838119506836 ]
[ 4.21875, 73.564453125, 98.7890625, 54.931640625, -2.109375, 19.3150691986084 ]
2.533333
76
0
76
0
[ 3.779296875, 70.927734375, 95.361328125, 54.755859375, -2.373046875, 17.854148864746094 ]
[ 4.21875, 72.685546875, 98.0859375, 54.84375, -2.021484375, 19.52054786682129 ]
2.566667
77
0
77
0
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[ 4.21875, 71.982421875, 97.3828125, 55.01953125, -2.021484375, 19.109588623046875 ]
2.6
78
0
78
0
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[ 4.21875, 71.54296875, 96.767578125, 55.01953125, -2.109375, 18.835617065429688 ]
2.633333
79
0
79
0
[ 3.779296875, 70.751953125, 95.361328125, 54.755859375, -2.4609375, 4.610226154327393 ]
[ 4.21875, 71.19140625, 96.416015625, 55.01953125, -2.109375, 16.849315643310547 ]
2.666667
80
0
80
0
[ 3.779296875, 70.751953125, 95.361328125, 54.755859375, -2.548828125, -1.08968985080719 ]
[ 4.21875, 70.927734375, 96.064453125, 55.01953125, -2.109375, 13.767123222351074 ]
2.7
81
0
81
0
[ 3.779296875, 70.751953125, 95.361328125, 54.755859375, -2.98828125, -0.25146690011024475 ]
[ 4.21875, 70.927734375, 96.064453125, 55.01953125, -2.109375, 10.547945022583008 ]
2.733333
82
0
82
0
[ 3.779296875, 70.751953125, 95.361328125, 54.755859375, -3.33984375, 0.4191114902496338 ]
[ 4.21875, 70.927734375, 96.064453125, 55.01953125, -2.109375, 6.986301422119141 ]
2.766667
83
0
83
0
[ 3.779296875, 70.751953125, 95.2734375, 54.755859375, -3.603515625, 0 ]
[ 4.21875, 70.927734375, 96.064453125, 55.01953125, -2.28515625, 3.904109477996826 ]
2.8
84
0
84
0
[ 3.779296875, 70.751953125, 95.2734375, 54.755859375, -3.603515625, -0.08382229506969452 ]
[ 4.21875, 70.927734375, 96.064453125, 55.01953125, -2.548828125, 2.0547945499420166 ]
2.833333
85
0
85
0
[ 3.779296875, 70.751953125, 95.2734375, 54.66796875, -3.603515625, -0.08382229506969452 ]
[ 4.21875, 70.927734375, 95.9765625, 55.01953125, -2.900390625, 1.6438355445861816 ]
2.866667
86
0
86
0
[ 3.69140625, 70.83984375, 95.2734375, 54.580078125, -3.69140625, -0.08382229506969452 ]
[ 4.130859375, 70.927734375, 95.9765625, 55.01953125, -3.076171875, 1.2328767776489258 ]
2.9
87
0
87
0
[ 3.33984375, 70.83984375, 95.2734375, 54.404296875, -3.69140625, -0.08382229506969452 ]
[ 4.130859375, 70.927734375, 95.888671875, 55.01953125, -3.1640625, 0.9589040875434875 ]
2.933333
88
0
88
0
[ 3.076171875, 70.83984375, 95.2734375, 54.404296875, -3.69140625, -0.08382229506969452 ]
[ 4.130859375, 70.927734375, 95.888671875, 55.01953125, -3.251953125, 0.8219177722930908 ]
2.966667
89
0
89
0
[ 2.98828125, 70.83984375, 95.09765625, 54.31640625, -4.04296875, -0.08382229506969452 ]
[ 3.8671875, 70.927734375, 95.888671875, 54.931640625, -3.33984375, 0.6849315166473389 ]
3
90
0
90
0
[ 2.98828125, 70.83984375, 94.130859375, 54.404296875, -4.74609375, -0.08382229506969452 ]
[ 3.603515625, 70.83984375, 95.888671875, 54.66796875, -3.779296875, 0.6849315166473389 ]
3.033333
91
0
91
0
[ 2.98828125, 70.83984375, 93.69140625, 54.404296875, -4.74609375, -0.08382229506969452 ]
[ 3.603515625, 70.83984375, 95.80078125, 54.66796875, -3.8671875, 0.6849315166473389 ]
3.066667
92
0
92
0
[ 2.98828125, 70.83984375, 93.1640625, 54.404296875, -4.74609375, -0.08382229506969452 ]
[ 3.515625, 70.83984375, 95.361328125, 54.66796875, -3.955078125, 0.6849315166473389 ]
3.1
93
0
93
0
[ 2.98828125, 70.83984375, 92.548828125, 54.580078125, -4.833984375, -0.08382229506969452 ]
[ 3.515625, 70.751953125, 94.921875, 54.66796875, -4.130859375, 0.6849315166473389 ]
3.133333
94
0
94
0
[ 2.98828125, 70.83984375, 91.845703125, 54.84375, -4.833984375, -0.08382229506969452 ]
[ 3.515625, 70.6640625, 94.658203125, 54.66796875, -4.130859375, 0.6849315166473389 ]
3.166667
95
0
95
0
[ 2.900390625, 70.83984375, 91.318359375, 54.84375, -4.833984375, -0.08382229506969452 ]
[ 3.427734375, 70.576171875, 94.306640625, 54.66796875, -4.21875, 0.6849315166473389 ]
3.2
96
0
96
0
[ 2.900390625, 70.83984375, 90.703125, 54.84375, -4.833984375, 0 ]
[ 3.427734375, 70.576171875, 93.8671875, 54.66796875, -4.306640625, 0.6849315166473389 ]
3.233333
97
0
97
0
[ 2.900390625, 70.83984375, 90.087890625, 54.84375, -4.921875, 0 ]
[ 3.427734375, 70.576171875, 93.427734375, 54.66796875, -4.39453125, 0.6849315166473389 ]
3.266667
98
0
98
0
[ 2.8125, 70.83984375, 89.384765625, 54.931640625, -4.921875, 0 ]
[ 3.33984375, 70.576171875, 92.8125, 54.66796875, -4.39453125, 0.6849315166473389 ]
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": 2,
    "total_frames": 1685,
    "total_tasks": 1,
    "total_videos": 2,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.pole": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "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",
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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
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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