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Datasets:
bjb7
/
so101_pen_mug_10_11

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so101
test
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Dask
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action
sequence
observation.state
sequence
timestamp
float32
0
29.3
frame_index
int64
0
878
episode_index
int64
0
9
index
int64
0
3.92k
task_index
int64
0
0
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0
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[ 38.671875, 167.080078125, 144.580078125, 26.89453125, -61.69921875, 4.978962421417236 ]
2.433333
73
0
73
0
[ 42.802734375, 168.22265625, 143.173828125, 26.71875, -79.1015625, 0.14035087823867798 ]
[ 39.55078125, 167.16796875, 144.580078125, 26.89453125, -65.126953125, 4.978962421417236 ]
2.466667
74
0
74
0
[ 43.59375, 168.22265625, 143.173828125, 26.71875, -82.001953125, 0.14035087823867798 ]
[ 40.4296875, 167.255859375, 144.580078125, 26.89453125, -68.642578125, 4.978962421417236 ]
2.5
75
0
75
0
[ 44.296875, 168.22265625, 143.173828125, 26.71875, -84.7265625, 0.14035087823867798 ]
[ 41.220703125, 167.255859375, 144.580078125, 26.89453125, -71.630859375, 4.978962421417236 ]
2.533333
76
0
76
0
[ 44.912109375, 168.22265625, 143.173828125, 26.71875, -87.36328125, 0.14035087823867798 ]
[ 42.01171875, 167.255859375, 144.580078125, 26.89453125, -74.8828125, 4.978962421417236 ]
2.566667
77
0
77
0
[ 45.439453125, 168.22265625, 143.173828125, 26.630859375, -90, 0.14035087823867798 ]
[ 42.802734375, 167.255859375, 144.580078125, 26.89453125, -77.958984375, 4.978962421417236 ]
2.6
78
0
78
0
[ 45.87890625, 168.22265625, 143.173828125, 26.630859375, -92.373046875, 0.14035087823867798 ]
[ 43.505859375, 167.255859375, 144.580078125, 26.89453125, -80.771484375, 4.978962421417236 ]
2.633333
79
0
79
0
[ 46.23046875, 168.22265625, 143.0859375, 26.630859375, -94.658203125, 0.14035087823867798 ]
[ 44.12109375, 167.255859375, 144.580078125, 26.89453125, -83.671875, 4.978962421417236 ]
2.666667
80
0
80
0
[ 46.58203125, 168.486328125, 143.0859375, 26.630859375, -96.943359375, 0.14035087823867798 ]
[ 44.736328125, 167.255859375, 144.580078125, 26.89453125, -86.396484375, 4.978962421417236 ]
2.7
81
0
81
0
[ 46.93359375, 169.1015625, 143.173828125, 26.630859375, -99.052734375, 0.14035087823867798 ]
[ 45.17578125, 167.255859375, 144.580078125, 26.89453125, -89.033203125, 4.978962421417236 ]
2.733333
82
0
82
0
[ 47.373046875, 169.8046875, 143.4375, 26.71875, -101.07421875, 0.14035087823867798 ]
[ 45.615234375, 167.255859375, 144.580078125, 26.89453125, -91.58203125, 4.978962421417236 ]
2.766667
83
0
83
0
[ 47.8125, 170.595703125, 143.7890625, 26.71875, -103.0078125, 0.14035087823867798 ]
[ 46.0546875, 167.51953125, 144.580078125, 26.89453125, -93.8671875, 4.978962421417236 ]
2.8
84
0
84
0
[ 48.427734375, 171.5625, 143.96484375, 26.806640625, -104.853515625, 0.14035087823867798 ]
[ 46.494140625, 167.958984375, 144.580078125, 26.89453125, -96.15234375, 4.978962421417236 ]
2.833333
85
0
85
0
[ 49.130859375, 172.265625, 144.052734375, 26.806640625, -106.5234375, 0.14035087823867798 ]
[ 46.93359375, 168.75, 144.580078125, 26.89453125, -98.525390625, 4.978962421417236 ]
2.866667
86
0
86
0
[ 50.009765625, 172.6171875, 144.052734375, 26.806640625, -108.017578125, 0.14035087823867798 ]
[ 47.373046875, 169.541015625, 144.580078125, 26.89453125, -100.458984375, 4.978962421417236 ]
2.9
87
0
87
0
[ 50.888671875, 172.96875, 144.052734375, 26.89453125, -109.423828125, 0.14035087823867798 ]
[ 47.98828125, 170.244140625, 144.580078125, 26.89453125, -102.3046875, 4.978962421417236 ]
2.933333
88
0
88
0
[ 51.85546875, 173.232421875, 144.052734375, 26.89453125, -110.56640625, 0.14035087823867798 ]
[ 48.603515625, 171.03515625, 144.580078125, 26.89453125, -104.326171875, 4.978962421417236 ]
2.966667
89
0
89
0
[ 52.734375, 173.3203125, 144.052734375, 26.89453125, -111.533203125, 0.14035087823867798 ]
[ 49.39453125, 171.5625, 144.580078125, 26.89453125, -105.908203125, 4.978962421417236 ]
3
90
0
90
0
[ 53.61328125, 173.49609375, 144.052734375, 26.89453125, -112.236328125, 0.14035087823867798 ]
[ 50.2734375, 172.08984375, 144.580078125, 26.89453125, -107.40234375, 4.978962421417236 ]
3.033333
91
0
91
0
[ 54.4921875, 173.583984375, 144.052734375, 26.89453125, -112.8515625, 0.14035087823867798 ]
[ 51.15234375, 172.353515625, 144.580078125, 26.89453125, -108.720703125, 4.978962421417236 ]
3.066667
92
0
92
0
[ 55.283203125, 173.408203125, 144.140625, 26.89453125, -113.203125, 0.14035087823867798 ]
[ 52.03125, 172.705078125, 144.580078125, 26.89453125, -109.775390625, 4.978962421417236 ]
3.1
93
0
93
0
[ 56.162109375, 173.3203125, 144.140625, 26.982421875, -113.291015625, 0.14035087823867798 ]
[ 52.822265625, 172.880859375, 144.580078125, 26.89453125, -110.7421875, 4.978962421417236 ]
3.133333
94
0
94
0
[ 56.865234375, 173.232421875, 144.228515625, 26.982421875, -113.291015625, 0.14035087823867798 ]
[ 53.701171875, 172.880859375, 144.580078125, 26.89453125, -111.4453125, 4.978962421417236 ]
3.166667
95
0
95
0
[ 57.568359375, 173.232421875, 144.580078125, 26.982421875, -113.291015625, 0.14035087823867798 ]
[ 54.580078125, 172.880859375, 144.580078125, 26.89453125, -111.884765625, 4.978962421417236 ]
3.2
96
0
96
0
[ 58.271484375, 173.3203125, 145.37109375, 26.982421875, -113.291015625, 0.14035087823867798 ]
[ 55.37109375, 172.880859375, 144.66796875, 26.89453125, -112.236328125, 4.978962421417236 ]
3.233333
97
0
97
0
[ 58.798828125, 173.759765625, 146.25, 26.982421875, -113.291015625, 0.14035087823867798 ]
[ 56.162109375, 173.14453125, 145.1953125, 26.89453125, -112.412109375, 4.978962421417236 ]
3.266667
98
0
98
0
[ 59.4140625, 174.111328125, 147.3046875, 26.982421875, -113.291015625, 0.14035087823867798 ]
[ 56.865234375, 173.3203125, 145.8984375, 26.89453125, -112.587890625, 4.978962421417236 ]
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": 3923,
    "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": {
            "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.camera_2": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "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
            }
        },
        "observation.images.camera_4": {
            "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": [
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            ],
            "names": null
        },
        "index": {
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Size of downloaded dataset files:
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