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Datasets:
gustavkeppler
/
so101_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so101
tutorial
Libraries:
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Dask
License:
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action
sequence
observation.state
sequence
timestamp
float32
0
20.1
frame_index
int64
0
603
episode_index
int64
0
9
index
int64
0
3.84k
task_index
int64
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0
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[ 24.609375, 140.09765625, 112.412109375, 86.044921875, -89.47265625, 29.371112823486328 ]
2.4
72
0
72
0
[ 24.9609375, 132.890625, 114.9609375, 72.94921875, -89.033203125, 29.250720977783203 ]
[ 24.697265625, 138.69140625, 113.115234375, 83.671875, -89.47265625, 29.371112823486328 ]
2.433333
73
0
73
0
[ 24.9609375, 130.95703125, 115.48828125, 70.576171875, -89.208984375, 29.250720977783203 ]
[ 24.697265625, 137.197265625, 113.818359375, 81.03515625, -89.47265625, 29.371112823486328 ]
2.466667
74
0
74
0
[ 24.9609375, 128.935546875, 116.015625, 68.5546875, -88.9453125, 29.178672790527344 ]
[ 24.609375, 135.439453125, 114.609375, 78.310546875, -89.47265625, 29.371112823486328 ]
2.5
75
0
75
0
[ 25.048828125, 126.73828125, 116.3671875, 66.708984375, -88.9453125, 29.178672790527344 ]
[ 24.521484375, 133.76953125, 115.13671875, 76.11328125, -89.47265625, 29.371112823486328 ]
2.533333
76
0
76
0
[ 25.048828125, 124.62890625, 116.630859375, 65.126953125, -88.9453125, 29.178672790527344 ]
[ 24.521484375, 131.923828125, 115.6640625, 73.740234375, -89.47265625, 29.371112823486328 ]
2.566667
77
0
77
0
[ 25.224609375, 122.431640625, 116.806640625, 63.720703125, -88.9453125, 29.178672790527344 ]
[ 24.521484375, 129.990234375, 116.19140625, 71.54296875, -89.47265625, 29.371112823486328 ]
2.6
78
0
78
0
[ 25.927734375, 120.234375, 116.806640625, 62.490234375, -88.9453125, 29.178672790527344 ]
[ 24.521484375, 127.880859375, 116.54296875, 69.609375, -89.47265625, 29.371112823486328 ]
2.633333
79
0
79
0
[ 26.806640625, 118.037109375, 116.806640625, 61.5234375, -88.9453125, 29.178672790527344 ]
[ 24.521484375, 125.68359375, 116.71875, 67.8515625, -89.47265625, 29.371112823486328 ]
2.666667
80
0
80
0
[ 27.685546875, 116.103515625, 116.71875, 60.908203125, -88.9453125, 29.178672790527344 ]
[ 24.873046875, 123.486328125, 116.71875, 66.357421875, -89.47265625, 29.371112823486328 ]
2.7
81
0
81
0
[ 28.4765625, 114.345703125, 116.455078125, 60.380859375, -88.9453125, 29.178672790527344 ]
[ 25.48828125, 121.376953125, 116.71875, 64.951171875, -89.47265625, 29.371112823486328 ]
2.733333
82
0
82
0
[ 29.091796875, 112.763671875, 116.103515625, 60.1171875, -89.208984375, 29.178672790527344 ]
[ 26.455078125, 118.916015625, 116.71875, 63.80859375, -89.47265625, 29.371112823486328 ]
2.766667
83
0
83
0
[ 29.70703125, 111.09375, 115.751953125, 60.029296875, -89.384765625, 29.178672790527344 ]
[ 27.24609375, 117.158203125, 116.71875, 63.10546875, -89.47265625, 29.371112823486328 ]
2.8
84
0
84
0
[ 30.41015625, 109.51171875, 115.6640625, 60.029296875, -89.384765625, 29.178672790527344 ]
[ 28.037109375, 115.224609375, 116.71875, 62.490234375, -89.384765625, 29.371112823486328 ]
2.833333
85
0
85
0
[ 31.201171875, 108.193359375, 115.48828125, 59.94140625, -89.384765625, 29.178672790527344 ]
[ 28.65234375, 113.466796875, 116.71875, 62.05078125, -89.033203125, 29.371112823486328 ]
2.866667
86
0
86
0
[ 31.81640625, 106.875, 115.224609375, 59.853515625, -89.384765625, 29.178672790527344 ]
[ 29.091796875, 111.796875, 116.71875, 61.787109375, -89.033203125, 29.371112823486328 ]
2.9
87
0
87
0
[ 32.431640625, 105.556640625, 114.873046875, 59.326171875, -89.384765625, 29.178672790527344 ]
[ 29.53125, 110.0390625, 116.71875, 61.611328125, -89.208984375, 29.371112823486328 ]
2.933333
88
0
88
0
[ 32.783203125, 103.974609375, 114.345703125, 58.53515625, -89.47265625, 29.178672790527344 ]
[ 30.234375, 108.6328125, 116.71875, 61.435546875, -89.47265625, 29.371112823486328 ]
2.966667
89
0
89
0
[ 33.046875, 102.3046875, 113.90625, 57.568359375, -89.47265625, 29.178672790527344 ]
[ 31.11328125, 107.138671875, 116.71875, 60.99609375, -89.47265625, 29.371112823486328 ]
3
90
0
90
0
[ 33.134765625, 100.283203125, 113.466796875, 56.42578125, -89.47265625, 29.178672790527344 ]
[ 31.904296875, 105.64453125, 116.71875, 60.380859375, -89.208984375, 29.371112823486328 ]
3.033333
91
0
91
0
[ 33.22265625, 98.173828125, 113.115234375, 55.107421875, -89.47265625, 29.178672790527344 ]
[ 32.431640625, 104.0625, 116.630859375, 59.677734375, -89.033203125, 29.371112823486328 ]
3.066667
92
0
92
0
[ 33.22265625, 95.888671875, 112.67578125, 53.7890625, -89.47265625, 29.178672790527344 ]
[ 32.607421875, 102.3046875, 116.54296875, 58.798828125, -89.033203125, 29.371112823486328 ]
3.1
93
0
93
0
[ 33.22265625, 93.69140625, 112.32421875, 52.3828125, -89.47265625, 29.178672790527344 ]
[ 32.6953125, 100.458984375, 116.455078125, 57.65625, -89.033203125, 29.371112823486328 ]
3.133333
94
0
94
0
[ 33.22265625, 91.7578125, 111.884765625, 50.9765625, -89.47265625, 29.178672790527344 ]
[ 32.607421875, 98.4375, 116.279296875, 56.513671875, -89.033203125, 29.371112823486328 ]
3.166667
95
0
95
0
[ 33.22265625, 90.087890625, 111.357421875, 49.658203125, -89.47265625, 29.178672790527344 ]
[ 32.431640625, 96.240234375, 115.927734375, 55.283203125, -89.12109375, 29.371112823486328 ]
3.2
96
0
96
0
[ 33.22265625, 88.681640625, 111.005859375, 48.251953125, -89.47265625, 29.178672790527344 ]
[ 32.431640625, 94.04296875, 115.576171875, 53.96484375, -89.12109375, 29.371112823486328 ]
3.233333
97
0
97
0
[ 33.22265625, 87.5390625, 110.7421875, 46.845703125, -89.560546875, 29.178672790527344 ]
[ 32.51953125, 92.109375, 115.224609375, 52.646484375, -89.296875, 29.371112823486328 ]
3.266667
98
0
98
0
[ 33.134765625, 86.748046875, 110.56640625, 45.52734375, -89.560546875, 29.178672790527344 ]
[ 32.783203125, 90.439453125, 114.873046875, 51.328125, -89.12109375, 29.371112823486328 ]
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": 1786,
    "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",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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