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Datasets:
sudosimi
/
so101_toaster2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so101
toaster
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
1
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action
sequence
observation.state
sequence
timestamp
float32
0
30.7
frame_index
int64
0
920
episode_index
int64
0
9
index
int64
0
9.19k
task_index
int64
0
0
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[ 1.93359375, 196.611328125, 176.396484375, 2.4609375, 57.3046875, 86.748046875, 3.198887348175049 ]
[ 2.197265625, 196.083984375, 179.033203125, 2.548828125, 57.041015625, 87.01171875, 3.6044363975524902 ]
2.133333
64
0
64
0
[ 1.93359375, 196.611328125, 176.396484375, 2.4609375, 57.3046875, 86.748046875, 3.616133689880371 ]
[ 2.197265625, 196.083984375, 179.033203125, 2.548828125, 57.041015625, 87.01171875, 3.6044363975524902 ]
2.166667
65
0
65
0
[ 1.93359375, 196.611328125, 176.396484375, 2.4609375, 57.3046875, 86.748046875, 3.755215644836426 ]
[ 2.197265625, 196.083984375, 179.033203125, 2.548828125, 57.041015625, 87.01171875, 3.6044363975524902 ]
2.2
66
0
66
0
[ 1.93359375, 196.611328125, 176.396484375, 2.4609375, 57.3046875, 86.748046875, 4.033379554748535 ]
[ 2.197265625, 196.083984375, 179.033203125, 2.548828125, 57.041015625, 87.01171875, 3.6968576908111572 ]
2.233333
67
0
67
0
[ 1.93359375, 196.5234375, 176.396484375, 2.373046875, 57.3046875, 86.748046875, 3.8942978382110596 ]
[ 2.197265625, 196.083984375, 179.033203125, 2.548828125, 57.041015625, 87.01171875, 3.7430684566497803 ]
2.266667
68
0
68
0
[ 1.93359375, 196.5234375, 176.396484375, 2.373046875, 57.3046875, 86.8359375, 4.033379554748535 ]
[ 2.197265625, 196.083984375, 179.033203125, 2.548828125, 57.041015625, 87.01171875, 3.8354899883270264 ]
2.3
69
0
69
0
[ 1.93359375, 196.5234375, 176.396484375, 2.28515625, 57.3046875, 86.923828125, 4.033379554748535 ]
[ 2.197265625, 196.083984375, 179.033203125, 2.548828125, 57.041015625, 87.01171875, 3.8817007541656494 ]
2.333333
70
0
70
0
[ 1.93359375, 196.5234375, 176.220703125, 2.021484375, 57.3046875, 86.923828125, 4.033379554748535 ]
[ 2.197265625, 196.083984375, 179.033203125, 2.548828125, 57.041015625, 87.01171875, 3.9279115200042725 ]
2.366667
71
0
71
0
[ 1.93359375, 196.435546875, 176.1328125, 0.966796875, 57.3046875, 86.923828125, 4.033379554748535 ]
[ 2.197265625, 196.083984375, 179.033203125, 2.548828125, 57.041015625, 87.01171875, 3.9279115200042725 ]
2.4
72
0
72
0
[ 1.93359375, 196.435546875, 175.869140625, -0.439453125, 57.216796875, 86.923828125, 4.172461986541748 ]
[ 2.197265625, 196.083984375, 179.033203125, 2.373046875, 57.041015625, 87.01171875, 3.9279115200042725 ]
2.433333
73
0
73
0
[ 1.93359375, 196.435546875, 175.60546875, -2.109375, 57.041015625, 87.451171875, 4.589707851409912 ]
[ 2.197265625, 196.083984375, 179.033203125, 2.109375, 57.041015625, 87.01171875, 3.9279115200042725 ]
2.466667
74
0
74
0
[ 1.845703125, 196.435546875, 175.517578125, -3.1640625, 56.865234375, 89.6484375, 4.589707851409912 ]
[ 2.021484375, 196.083984375, 179.033203125, 0.703125, 57.041015625, 87.01171875, 4.020332336425781 ]
2.5
75
0
75
0
[ 1.7578125, 196.34765625, 175.4296875, -3.251953125, 56.6015625, 92.8125, 4.589707851409912 ]
[ 2.109375, 196.083984375, 179.033203125, -0.703125, 57.041015625, 87.275390625, 4.066543102264404 ]
2.533333
76
0
76
0
[ 1.669921875, 196.34765625, 175.341796875, -2.63671875, 56.513671875, 95.888671875, 4.589707851409912 ]
[ 2.548828125, 196.083984375, 179.033203125, -1.7578125, 57.041015625, 88.59375, 4.15896463394165 ]
2.566667
77
0
77
0
[ 1.23046875, 196.34765625, 175.341796875, -2.373046875, 56.07421875, 97.822265625, 4.589707851409912 ]
[ 2.4609375, 196.083984375, 179.033203125, -2.548828125, 57.041015625, 90.791015625, 4.2513861656188965 ]
2.6
78
0
78
0
[ 0.87890625, 196.34765625, 175.341796875, -1.93359375, 55.72265625, 99.4921875, 4.589707851409912 ]
[ 2.109375, 196.083984375, 179.033203125, -2.28515625, 56.953125, 93.1640625, 4.343807697296143 ]
2.633333
79
0
79
0
[ 0.791015625, 196.259765625, 174.814453125, -1.7578125, 55.634765625, 100.37109375, 4.589707851409912 ]
[ 1.58203125, 196.083984375, 179.033203125, -1.845703125, 56.865234375, 95.44921875, 4.390018463134766 ]
2.666667
80
0
80
0
[ 0.703125, 196.259765625, 174.111328125, -1.7578125, 55.634765625, 100.72265625, 4.589707851409912 ]
[ 0.703125, 196.083984375, 178.9453125, -1.845703125, 56.77734375, 97.294921875, 4.390018463134766 ]
2.7
81
0
81
0
[ 0.615234375, 196.171875, 173.14453125, -1.7578125, 55.72265625, 101.25, 4.589707851409912 ]
[ 0.615234375, 196.083984375, 178.59375, -1.845703125, 56.77734375, 98.525390625, 4.390018463134766 ]
2.733333
82
0
82
0
[ 0.615234375, 195.8203125, 172.001953125, -1.7578125, 55.72265625, 101.337890625, 4.589707851409912 ]
[ 0.966796875, 196.083984375, 178.06640625, -1.845703125, 56.689453125, 99.404296875, 4.390018463134766 ]
2.766667
83
0
83
0
[ 0.615234375, 194.765625, 170.33203125, -1.7578125, 55.72265625, 101.337890625, 4.589707851409912 ]
[ 1.23046875, 195.99609375, 177.1875, -1.845703125, 56.689453125, 100.1953125, 4.390018463134766 ]
2.8
84
0
84
0
[ 0.52734375, 193.18359375, 168.486328125, -1.7578125, 55.72265625, 101.337890625, 4.589707851409912 ]
[ 1.142578125, 195.99609375, 176.220703125, -1.845703125, 56.689453125, 100.546875, 4.390018463134766 ]
2.833333
85
0
85
0
[ 0.087890625, 191.162109375, 166.376953125, -1.669921875, 55.72265625, 101.337890625, 4.589707851409912 ]
[ 0.791015625, 195.46875, 174.90234375, -1.845703125, 56.689453125, 100.810546875, 4.390018463134766 ]
2.866667
86
0
86
0
[ -0.87890625, 188.701171875, 164.267578125, -1.669921875, 55.72265625, 101.337890625, 4.589707851409912 ]
[ 0.615234375, 194.150390625, 173.14453125, -1.7578125, 56.689453125, 100.810546875, 4.390018463134766 ]
2.9
87
0
87
0
[ -2.021484375, 186.064453125, 162.158203125, -1.669921875, 55.72265625, 101.337890625, 4.589707851409912 ]
[ 0.703125, 192.568359375, 171.2109375, -1.7578125, 56.689453125, 100.810546875, 4.390018463134766 ]
2.933333
88
0
88
0
[ -2.900390625, 183.515625, 159.9609375, -1.669921875, 55.72265625, 101.337890625, 4.589707851409912 ]
[ -0.17578125, 190.458984375, 169.189453125, -2.4609375, 56.689453125, 100.810546875, 4.390018463134766 ]
2.966667
89
0
89
0
[ -3.8671875, 181.318359375, 157.939453125, -1.669921875, 55.72265625, 101.162109375, 4.589707851409912 ]
[ -1.142578125, 188.349609375, 167.255859375, -2.109375, 56.689453125, 100.810546875, 4.390018463134766 ]
3
90
0
90
0
[ -4.658203125, 179.82421875, 156.181640625, -1.669921875, 55.72265625, 100.986328125, 4.589707851409912 ]
[ -1.93359375, 186.064453125, 165.146484375, -1.40625, 56.689453125, 100.810546875, 4.390018463134766 ]
3.033333
91
0
91
0
[ -5.537109375, 178.154296875, 154.599609375, -1.7578125, 55.72265625, 100.986328125, 4.728789806365967 ]
[ -2.98828125, 183.603515625, 163.037109375, -1.494140625, 56.689453125, 100.810546875, 4.390018463134766 ]
3.066667
92
0
92
0
[ -6.50390625, 176.8359375, 153.544921875, -1.7578125, 55.634765625, 101.162109375, 4.728789806365967 ]
[ -3.69140625, 181.845703125, 161.19140625, -1.494140625, 56.689453125, 100.72265625, 4.436229228973389 ]
3.1
93
0
93
0
[ -7.646484375, 175.517578125, 152.75390625, -1.7578125, 55.634765625, 101.25, 4.728789806365967 ]
[ -4.5703125, 180.263671875, 159.521484375, -1.58203125, 56.689453125, 100.72265625, 4.482439994812012 ]
3.133333
94
0
94
0
[ -8.876953125, 174.19921875, 152.490234375, -1.7578125, 55.37109375, 101.25, 4.86787223815918 ]
[ -5.537109375, 178.59375, 158.02734375, -1.494140625, 56.689453125, 100.72265625, 4.528650760650635 ]
3.166667
95
0
95
0
[ -10.01953125, 173.408203125, 152.40234375, -2.021484375, 54.228515625, 101.25, 4.86787223815918 ]
[ -6.591796875, 177.275390625, 157.060546875, -1.494140625, 56.689453125, 100.72265625, 4.574861526489258 ]
3.2
96
0
96
0
[ -10.986328125, 172.705078125, 152.40234375, -2.4609375, 53.0859375, 101.162109375, 4.86787223815918 ]
[ -7.646484375, 175.517578125, 156.533203125, -1.494140625, 56.25, 100.72265625, 4.574861526489258 ]
3.233333
97
0
97
0
[ -11.689453125, 172.08984375, 152.490234375, -2.4609375, 51.943359375, 101.337890625, 5.841446399688721 ]
[ -8.701171875, 174.375, 156.26953125, -1.669921875, 55.37109375, 100.72265625, 4.621072292327881 ]
3.266667
98
0
98
0
[ -12.3046875, 171.474609375, 152.490234375, -2.548828125, 50.888671875, 101.337890625, 7.788595676422119 ]
[ -9.755859375, 173.583984375, 156.26953125, -1.93359375, 54.580078125, 100.72265625, 4.759704113006592 ]
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": 10,
    "total_frames": 9195,
    "total_tasks": 1,
    "total_videos": 20,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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": {
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            "shape": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_forearm_twist",
                "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_forearm_twist",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.OBS_IMAGE_1": {
            "dtype": "video",
            "shape": [
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            "names": [
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                "video.width": 640,
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            "names": [
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                "channels"
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                "video.width": 640,
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        "timestamp": {
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            "shape": [
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            "names": null
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        "frame_index": {
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        "episode_index": {
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        "index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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