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Datasets:
vadimitri
/
so101_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
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Size:
1K - 10K
Tags:
LeRobot
so101
tutorial
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sequence
observation.state
sequence
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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[ -6.328125, 76.2890625, 109.86328125, 47.109375, -6.6796875, 33.002479553222656 ]
2.433333
73
0
73
0
[ -7.119140625, 75.05859375, 107.666015625, 55.01953125, -6.591796875, 33.648067474365234 ]
[ -6.416015625, 76.201171875, 109.248046875, 48.33984375, -6.6796875, 33.2506217956543 ]
2.466667
74
0
74
0
[ -7.119140625, 74.53125, 106.69921875, 57.216796875, -6.50390625, 33.47639465332031 ]
[ -6.50390625, 75.849609375, 108.544921875, 49.833984375, -6.6796875, 33.2506217956543 ]
2.5
75
0
75
0
[ -7.119140625, 73.828125, 105.46875, 59.150390625, -6.50390625, 32.61802673339844 ]
[ -6.591796875, 75.498046875, 108.017578125, 51.85546875, -6.6796875, 33.2506217956543 ]
2.533333
76
0
76
0
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[ -6.6796875, 74.970703125, 107.2265625, 53.876953125, -6.6796875, 33.2506217956543 ]
2.566667
77
0
77
0
[ -7.119140625, 72.24609375, 103.359375, 62.138671875, -6.50390625, 29.2703857421875 ]
[ -6.767578125, 74.35546875, 106.171875, 55.8984375, -6.591796875, 33.002479553222656 ]
2.6
78
0
78
0
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[ -6.767578125, 73.828125, 105.1171875, 57.65625, -6.591796875, 31.596359252929688 ]
2.633333
79
0
79
0
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[ -6.85546875, 73.125, 104.23828125, 59.23828125, -6.50390625, 30.52109146118164 ]
2.666667
80
0
80
0
[ -7.119140625, 69.43359375, 101.77734375, 63.6328125, -6.416015625, 25.57939910888672 ]
[ -6.85546875, 72.24609375, 103.271484375, 60.556640625, -6.591796875, 30.02481460571289 ]
2.7
81
0
81
0
[ -7.119140625, 68.642578125, 101.513671875, 63.6328125, -6.416015625, 24.806867599487305 ]
[ -6.85546875, 71.54296875, 102.568359375, 61.34765625, -6.591796875, 29.032257080078125 ]
2.733333
82
0
82
0
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2.766667
83
0
83
0
[ -7.119140625, 67.67578125, 101.337890625, 63.45703125, -6.416015625, 21.9742488861084 ]
[ -6.85546875, 70.3125, 101.6015625, 62.2265625, -6.591796875, 26.385440826416016 ]
2.8
84
0
84
0
[ -7.119140625, 67.412109375, 101.337890625, 63.45703125, -6.416015625, 16.824033737182617 ]
[ -6.767578125, 70.048828125, 101.337890625, 62.314453125, -6.591796875, 25.80644989013672 ]
2.833333
85
0
85
0
[ -7.20703125, 67.32421875, 101.337890625, 63.45703125, -6.416015625, 13.390557289123535 ]
[ -6.767578125, 69.873046875, 101.337890625, 62.40234375, -6.591796875, 24.400331497192383 ]
2.866667
86
0
86
0
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[ -6.767578125, 69.78515625, 101.25, 62.40234375, -6.591796875, 22.00165367126465 ]
2.9
87
0
87
0
[ -7.91015625, 67.236328125, 101.337890625, 63.45703125, -6.416015625, 9.098711967468262 ]
[ -6.767578125, 69.78515625, 100.986328125, 62.40234375, -6.591796875, 19.02398681640625 ]
2.933333
88
0
88
0
[ -8.26171875, 67.1484375, 101.337890625, 63.45703125, -6.416015625, 7.381974220275879 ]
[ -6.943359375, 69.78515625, 100.986328125, 62.40234375, -6.50390625, 16.04631996154785 ]
2.966667
89
0
89
0
[ -8.61328125, 67.1484375, 101.337890625, 63.45703125, -6.416015625, 5.150214672088623 ]
[ -7.294921875, 69.697265625, 100.986328125, 62.40234375, -6.50390625, 13.234077453613281 ]
3
90
0
90
0
[ -8.7890625, 67.1484375, 101.337890625, 63.45703125, -6.416015625, 2.0600860118865967 ]
[ -7.55859375, 69.609375, 100.8984375, 62.40234375, -6.50390625, 11.083539962768555 ]
3.033333
91
0
91
0
[ -8.876953125, 67.1484375, 101.337890625, 63.45703125, -6.416015625, -0.08583690971136093 ]
[ -7.91015625, 69.609375, 100.8984375, 62.40234375, -6.50390625, 8.850289344787598 ]
3.066667
92
0
92
0
[ -8.876953125, 67.1484375, 101.337890625, 63.45703125, -6.416015625, -0.08583690971136093 ]
[ -8.173828125, 69.609375, 100.8984375, 62.40234375, -6.591796875, 6.286186695098877 ]
3.1
93
0
93
0
[ -8.876953125, 67.236328125, 101.337890625, 63.45703125, -6.50390625, -0.08583690971136093 ]
[ -8.26171875, 69.609375, 100.8984375, 62.40234375, -6.591796875, 3.9702231884002686 ]
3.133333
94
0
94
0
[ -8.876953125, 67.236328125, 101.337890625, 63.45703125, -6.50390625, -0.08583690971136093 ]
[ -8.26171875, 69.609375, 100.8984375, 62.40234375, -6.591796875, 2.812241554260254 ]
3.166667
95
0
95
0
[ -8.876953125, 67.412109375, 101.337890625, 63.45703125, -6.50390625, -0.08583690971136093 ]
[ -8.26171875, 69.609375, 100.8984375, 62.40234375, -6.591796875, 2.233250617980957 ]
3.2
96
0
96
0
[ -8.876953125, 67.67578125, 101.337890625, 63.45703125, -6.50390625, -0.08583690971136093 ]
[ -8.26171875, 69.609375, 100.8984375, 62.40234375, -6.591796875, 1.902398705482483 ]
3.233333
97
0
97
0
[ -8.876953125, 67.8515625, 101.25, 63.45703125, -6.50390625, -0.17167381942272186 ]
[ -8.26171875, 69.609375, 100.8984375, 62.40234375, -6.591796875, 1.6542596817016602 ]
3.266667
98
0
98
0
[ -8.876953125, 67.939453125, 100.810546875, 63.720703125, -6.50390625, -0.17167381942272186 ]
[ -8.26171875, 69.609375, 100.8984375, 62.40234375, -6.591796875, 1.6542596817016602 ]
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": 1793,
    "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": [
                6
            ],
            "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.wrist": {
            "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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                1
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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": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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