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Datasets:
shunsmae
/
so101_pickplace_pi0

Tasks:
Robotics
Modalities:
Tabular
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Video
Formats:
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Size:
1K - 10K
Tags:
LeRobot
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pandas
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action
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observation.state
list
timestamp
float32
0
59.8
frame_index
int64
0
299
episode_index
int64
0
9
index
int64
0
3k
task_index
int64
0
0
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1
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3.2
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6.4
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6.6
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6.8
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7
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7.2
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7.4
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7.6
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7.8
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8
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8.2
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8.4
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8.6
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8.8
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9
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9.2
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9.4
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9.6
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9.8
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10
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10.2
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10.4
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10.6
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10.8
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11
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11.2
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11.4
57
0
57
0
[ -35.51230239868164, -15.880502700805664, 64.8841323852539, 29.03501319885254, -69.04266357421875, 8.01850414276123 ]
[ -35.89445114135742, -15.681445121765137, 63.01853561401367, 28.494400024414062, -69.00675964355469, 19.250986099243164 ]
11.6
58
0
58
0
[ -35.585750579833984, -16.588050842285156, 68.89482879638672, 28.949615478515625, -69.09469604492188, 10.948342323303223 ]
[ -35.89445114135742, -15.681445121765137, 63.901145935058594, 28.328495025634766, -69.00675964355469, 14.257555961608887 ]
11.8
59
0
59
0
[ -35.806095123291016, -16.588050842285156, 68.89482879638672, 28.86421775817871, -69.25077819824219, 22.667694091796875 ]
[ -35.89445114135742, -16.09195327758789, 64.60723876953125, 28.494400024414062, -69.00675964355469, 14.257555961608887 ]
12
60
0
60
0
[ -37.054718017578125, -16.588050842285156, 68.98395538330078, 28.949615478515625, -69.14672088623047, 26.137239456176758 ]
[ -36.0496711730957, -16.584564208984375, 67.8729019165039, 28.494400024414062, -69.00675964355469, 15.440210342407227 ]
12.2
61
0
61
0
[ -37.64230728149414, -16.588050842285156, 69.07308197021484, 29.03501319885254, -69.14672088623047, 26.060138702392578 ]
[ -36.67054748535156, -16.66666603088379, 67.8729019165039, 28.494400024414062, -69.00675964355469, 21.879106521606445 ]
12.4
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0
62
0
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[ -37.36903381347656, -16.66666603088379, 67.8729019165039, 28.494400024414062, -69.00675964355469, 25.492773056030273 ]
12.6
63
0
63
0
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[ -37.757080078125, -16.66666603088379, 67.8729019165039, 28.90916633605957, -69.00675964355469, 25.558475494384766 ]
12.8
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64
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13
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65
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[ -39.930152893066406, -16.91297149658203, 67.7846450805664, 32.80796432495117, -68.95475769042969, 16.294349670410156 ]
13.2
66
0
66
0
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[ -39.930152893066406, -16.91297149658203, 67.7846450805664, 32.80796432495117, -68.95475769042969, 16.031538009643555 ]
13.4
67
0
67
0
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[ -39.930152893066406, -16.91297149658203, 67.7846450805664, 32.80796432495117, -69.00675964355469, 14.323258399963379 ]
13.6
68
0
68
0
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[ -39.852542877197266, -16.91297149658203, 67.7846450805664, 32.80796432495117, -69.00675964355469, 14.323258399963379 ]
13.8
69
0
69
0
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[ -37.757080078125, -16.830869674682617, 66.90203094482422, 33.139774322509766, -69.00675964355469, 14.323258399963379 ]
14
70
0
70
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14.2
71
0
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14.4
72
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0
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14.6
73
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14.8
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[ -29.99612045288086, -20.197044372558594, 47.661075592041016, 55.70302963256836, -69.00675964355469, 14.323258399963379 ]
15
75
0
75
0
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15.2
76
0
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0
[ -16.709510803222656, -37.10691833496094, 30.303030014038086, 65.41417694091797, -64.7242431640625, 0.925212025642395 ]
[ -24.718664169311523, -33.00492477416992, 41.74757385253906, 65.32559204101562, -69.00675964355469, 14.323258399963379 ]
15.4
77
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77
0
[ -12.008813858032227, -36.949684143066406, 30.12477684020996, 65.32878112792969, -62.95525360107422, 0.925212025642395 ]
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15.6
78
0
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0
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15.8
79
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79
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16
80
0
80
0
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16.200001
81
0
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[ 8.336393356323242, -37.421382904052734, 45.36541748046875, 57.89923095703125, -62.95525360107422, 0.925212025642395 ]
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16.4
82
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16.6
83
0
83
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16.799999
84
0
84
0
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17
85
0
85
0
[ 3.341902256011963, -37.5, 55.169342041015625, 52.94620132446289, -63.00728225708008, 0.925212025642395 ]
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17.200001
86
0
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0
[ 3.341902256011963, -37.5, 54.54545593261719, 52.860801696777344, -63.3194580078125, 0.925212025642395 ]
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17.4
87
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0
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17.6
88
0
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0
[ 1.5791406631469727, -37.5, 55.34759521484375, 43.894107818603516, -62.95525360107422, 33.46183395385742 ]
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17.799999
89
0
89
0
[ 0.6243114471435547, -37.5, 55.34759521484375, 44.406490325927734, -62.95525360107422, 34.30994415283203 ]
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18
90
0
90
0
[ 0.6243114471435547, -37.5, 54.90196228027344, 43.9795036315918, -62.95525360107422, 34.078643798828125 ]
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18.200001
91
0
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0
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18.4
92
0
92
0
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18.6
93
0
93
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[ 1.358795404434204, -37.578617095947266, 50.891265869140625, 44.748077392578125, -62.95525360107422, 34.232845306396484 ]
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18.799999
94
0
94
0
[ 1.358795404434204, -37.578617095947266, 46.07843017578125, 44.91887283325195, -62.95525360107422, 34.232845306396484 ]
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19
95
0
95
0
[ 0.6977598071098328, -37.578617095947266, 43.4937629699707, 47.30998992919922, -62.95525360107422, 34.232845306396484 ]
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19.200001
96
0
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0
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19.4
97
0
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0
[ -4.223283290863037, -37.578617095947266, 34.313724517822266, 53.97096633911133, -62.95525360107422, 33.693138122558594 ]
[ 0.27163368463516235, -35.467979431152344, 47.21977233886719, 48.81791687011719, -63.026519775390625, 34.09986877441406 ]
19.6
98
0
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0
[ -14.359162330627441, -39.70125961303711, 35.11586380004883, 56.0204963684082, -62.95525360107422, 33.384735107421875 ]
[ -3.376018524169922, -35.55008316040039, 40.42365264892578, 53.712154388427734, -63.026519775390625, 33.83705520629883 ]
19.799999
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": 10,
    "total_frames": 3000,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 5,
    "splits": {
        "train": "0:10"
    },
    "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": {
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            "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.base_0_rgb": {
            "dtype": "video",
            "shape": [
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            "names": [
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        "observation.images.left_wrist_0_rgb": {
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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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        }
    }
}

Citation

BibTeX:

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Downloads last month
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License:
apache-2.0
Size of downloaded dataset files:
145 kB
Size of the auto-converted Parquet files:
145 kB
Number of rows:
3,000

Models trained or fine-tuned on shunsmae/so101_pickplace_pi0