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Datasets:
FAlatyr
/
so101_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
1
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action
sequence
observation.state
sequence
timestamp
float32
0
29.6
frame_index
int64
0
887
episode_index
int64
0
9
index
int64
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8.88k
task_index
int64
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[ -16.962890625, 130.166015625, -21.533203125, -30.498046875, 164.53125, -1.1683849096298218 ]
2.333333
70
0
70
0
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[ -16.962890625, 130.166015625, -21.533203125, -30.498046875, 164.53125, -1.1683849096298218 ]
2.366667
71
0
71
0
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[ -16.962890625, 130.166015625, -21.533203125, -30.498046875, 164.53125, -1.1683849096298218 ]
2.4
72
0
72
0
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[ -16.962890625, 130.166015625, -21.533203125, -30.498046875, 164.53125, -1.1683849096298218 ]
2.433333
73
0
73
0
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2.466667
74
0
74
0
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[ -16.962890625, 130.166015625, -21.533203125, -30.498046875, 164.53125, -1.1683849096298218 ]
2.5
75
0
75
0
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[ -16.962890625, 130.166015625, -21.533203125, -30.498046875, 164.53125, -1.1683849096298218 ]
2.533333
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0
76
0
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2.566667
77
0
77
0
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2.6
78
0
78
0
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2.633333
79
0
79
0
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2.666667
80
0
80
0
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[ -16.962890625, 130.166015625, -21.533203125, -30.498046875, 164.53125, -1.1683849096298218 ]
2.7
81
0
81
0
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[ -16.962890625, 130.166015625, -21.533203125, -30.498046875, 164.53125, -1.1683849096298218 ]
2.733333
82
0
82
0
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[ -16.962890625, 130.166015625, -21.533203125, -30.498046875, 164.53125, -1.1683849096298218 ]
2.766667
83
0
83
0
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[ -16.962890625, 130.166015625, -21.533203125, -30.498046875, 164.53125, -1.1683849096298218 ]
2.8
84
0
84
0
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[ -16.962890625, 130.166015625, -21.533203125, -30.498046875, 164.53125, -1.1683849096298218 ]
2.833333
85
0
85
0
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2.866667
86
0
86
0
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[ -16.962890625, 130.166015625, -21.533203125, -30.498046875, 164.53125, -1.1683849096298218 ]
2.9
87
0
87
0
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[ -16.962890625, 130.166015625, -21.533203125, -30.498046875, 164.53125, -1.1683849096298218 ]
2.933333
88
0
88
0
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[ -16.962890625, 130.166015625, -21.533203125, -30.498046875, 164.53125, -1.1683849096298218 ]
2.966667
89
0
89
0
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[ -16.962890625, 130.166015625, -21.533203125, -30.498046875, 164.53125, -1.1683849096298218 ]
3
90
0
90
0
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[ -16.962890625, 130.166015625, -21.533203125, -30.498046875, 164.53125, -1.1683849096298218 ]
3.033333
91
0
91
0
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[ -16.962890625, 130.166015625, -21.533203125, -30.498046875, 164.53125, -1.1683849096298218 ]
3.066667
92
0
92
0
[ -17.75390625, 127.529296875, -25.224609375, -29.091796875, 165.05859375, -3.7783377170562744 ]
[ -16.962890625, 130.166015625, -21.533203125, -30.498046875, 164.53125, -1.1683849096298218 ]
3.1
93
0
93
0
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3.133333
94
0
94
0
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3.166667
95
0
95
0
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3.2
96
0
96
0
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3.233333
97
0
97
0
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3.266667
98
0
98
0
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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": 8880,
    "total_tasks": 1,
    "total_videos": 10,
    "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": {
            "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.camera": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "episode_index": {
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            "shape": [
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            "names": null
        },
        "index": {
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            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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