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Datasets:
marioblz
/
so101_test16

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so101
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
1
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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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[ 23.5546875, 147.65625, 111.26953125, 98.26171875, -95.185546875, 42.109500885009766 ]
[ 23.203125, 132.890625, 96.943359375, 94.39453125, -91.23046875, 41.73117446899414 ]
2.433333
73
0
73
0
[ 23.73046875, 149.853515625, 113.90625, 98.173828125, -96.416015625, 42.109500885009766 ]
[ 23.291015625, 136.40625, 100.810546875, 94.39453125, -92.109375, 41.73117446899414 ]
2.466667
74
0
74
0
[ 23.73046875, 151.787109375, 116.279296875, 98.173828125, -97.3828125, 42.109500885009766 ]
[ 23.291015625, 139.833984375, 104.58984375, 94.39453125, -93.1640625, 41.73117446899414 ]
2.5
75
0
75
0
[ 23.73046875, 153.45703125, 118.30078125, 98.173828125, -98.173828125, 42.109500885009766 ]
[ 23.291015625, 143.173828125, 107.9296875, 94.39453125, -94.306640625, 41.73117446899414 ]
2.533333
76
0
76
0
[ 23.73046875, 154.775390625, 119.8828125, 98.173828125, -98.61328125, 42.109500885009766 ]
[ 23.291015625, 146.162109375, 111.181640625, 94.39453125, -95.361328125, 41.73117446899414 ]
2.566667
77
0
77
0
[ 23.73046875, 155.7421875, 121.201171875, 98.0859375, -99.140625, 42.109500885009766 ]
[ 23.291015625, 149.150390625, 114.08203125, 94.39453125, -96.328125, 41.73117446899414 ]
2.6
78
0
78
0
[ 23.642578125, 156.533203125, 122.16796875, 98.0859375, -99.31640625, 42.109500885009766 ]
[ 23.291015625, 151.5234375, 116.455078125, 94.39453125, -97.119140625, 41.73117446899414 ]
2.633333
79
0
79
0
[ 23.5546875, 156.97265625, 122.783203125, 97.998046875, -99.404296875, 42.109500885009766 ]
[ 23.291015625, 153.10546875, 118.4765625, 94.39453125, -97.822265625, 41.73117446899414 ]
2.666667
80
0
80
0
[ 23.5546875, 157.1484375, 123.3984375, 97.998046875, -99.66796875, 42.109500885009766 ]
[ 23.291015625, 154.16015625, 120.234375, 94.39453125, -98.349609375, 41.73117446899414 ]
2.7
81
0
81
0
[ 23.466796875, 157.1484375, 123.92578125, 97.646484375, -99.931640625, 42.109500885009766 ]
[ 23.291015625, 155.302734375, 121.552734375, 94.39453125, -98.701171875, 41.73117446899414 ]
2.733333
82
0
82
0
[ 23.5546875, 157.1484375, 124.27734375, 96.591796875, -100.1953125, 42.109500885009766 ]
[ 23.291015625, 156.09375, 122.607421875, 94.39453125, -98.96484375, 41.73117446899414 ]
2.766667
83
0
83
0
[ 23.5546875, 157.1484375, 124.716796875, 94.833984375, -100.634765625, 42.109500885009766 ]
[ 23.291015625, 156.62109375, 123.486328125, 94.39453125, -99.31640625, 41.73117446899414 ]
2.8
84
0
84
0
[ 23.5546875, 157.1484375, 125.419921875, 92.373046875, -100.986328125, 42.109500885009766 ]
[ 23.291015625, 156.708984375, 124.189453125, 94.39453125, -99.66796875, 41.73117446899414 ]
2.833333
85
0
85
0
[ 23.642578125, 157.060546875, 126.298828125, 89.560546875, -101.513671875, 42.109500885009766 ]
[ 23.291015625, 156.97265625, 124.8046875, 94.04296875, -100.01953125, 41.73117446899414 ]
2.866667
86
0
86
0
[ 23.73046875, 157.060546875, 127.529296875, 86.66015625, -102.12890625, 42.109500885009766 ]
[ 23.291015625, 157.060546875, 125.419921875, 93.69140625, -100.37109375, 41.73117446899414 ]
2.9
87
0
87
0
[ 23.73046875, 157.060546875, 128.583984375, 84.462890625, -102.744140625, 42.109500885009766 ]
[ 23.291015625, 157.060546875, 126.2109375, 92.8125, -100.8984375, 41.73117446899414 ]
2.933333
88
0
88
0
[ 23.818359375, 157.060546875, 129.55078125, 82.353515625, -103.271484375, 42.109500885009766 ]
[ 23.291015625, 157.060546875, 127.08984375, 91.0546875, -101.337890625, 41.73117446899414 ]
2.966667
89
0
89
0
[ 23.818359375, 157.060546875, 130.4296875, 80.5078125, -103.623046875, 42.109500885009766 ]
[ 23.291015625, 157.060546875, 128.14453125, 89.208984375, -101.865234375, 41.73117446899414 ]
3
90
0
90
0
[ 23.994140625, 157.060546875, 131.220703125, 79.013671875, -103.974609375, 42.109500885009766 ]
[ 23.291015625, 156.884765625, 129.111328125, 87.275390625, -102.392578125, 41.73117446899414 ]
3.033333
91
0
91
0
[ 24.345703125, 157.060546875, 131.8359375, 77.87109375, -104.4140625, 42.109500885009766 ]
[ 23.291015625, 156.97265625, 130.078125, 85.341796875, -102.83203125, 41.73117446899414 ]
3.066667
92
0
92
0
[ 24.78515625, 157.060546875, 132.451171875, 77.080078125, -104.853515625, 42.109500885009766 ]
[ 23.291015625, 156.97265625, 130.95703125, 83.583984375, -103.271484375, 41.73117446899414 ]
3.1
93
0
93
0
[ 25.224609375, 157.060546875, 133.06640625, 76.640625, -105.46875, 42.109500885009766 ]
[ 23.291015625, 156.97265625, 131.8359375, 82.001953125, -103.7109375, 41.73117446899414 ]
3.133333
94
0
94
0
[ 25.6640625, 157.060546875, 133.76953125, 76.11328125, -106.171875, 42.109500885009766 ]
[ 23.37890625, 156.884765625, 132.451171875, 80.771484375, -104.150390625, 41.73117446899414 ]
3.166667
95
0
95
0
[ 26.015625, 157.060546875, 134.384765625, 75.5859375, -106.875, 42.109500885009766 ]
[ 23.994140625, 156.97265625, 133.2421875, 79.716796875, -104.677734375, 41.73117446899414 ]
3.2
96
0
96
0
[ 26.455078125, 157.060546875, 135.17578125, 75.41015625, -107.490234375, 42.109500885009766 ]
[ 24.609375, 156.97265625, 133.9453125, 78.75, -105.205078125, 41.73117446899414 ]
3.233333
97
0
97
0
[ 26.71875, 157.060546875, 135.87890625, 74.970703125, -107.9296875, 42.109500885009766 ]
[ 24.9609375, 156.97265625, 134.6484375, 78.046875, -105.8203125, 41.73117446899414 ]
3.266667
98
0
98
0
[ 26.982421875, 157.060546875, 136.58203125, 74.267578125, -108.28125, 42.109500885009766 ]
[ 25.400390625, 156.884765625, 135.3515625, 77.431640625, -106.435546875, 41.73117446899414 ]
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": 1770,
    "total_tasks": 1,
    "total_videos": 4,
    "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": [
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            ],
            "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.webcam1": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "info": {
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                "video.height": 480,
                "video.width": 640,
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                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
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        },
        "observation.images.webcam2": {
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            "shape": [
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                640,
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            ],
            "names": [
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                "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
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
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            ],
            "names": null
        },
        "index": {
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                1
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        },
        "task_index": {
            "dtype": "int64",
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            "names": null
        }
    }
}

Citation

BibTeX:

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