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Datasets:
alan-123456
/
so101_test

Tasks:
Robotics
Modalities:
Tabular
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Video
Formats:
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Size:
1K - 10K
Tags:
LeRobot
so101
tutorial
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Dask
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action
sequence
observation.state
sequence
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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[ 51.328125, 91.40625, 121.025390625, 34.541015625, -6.50390625, 61.01108169555664 ]
2.4
72
0
72
0
[ 50.9765625, 90.263671875, 118.388671875, 28.388671875, -6.767578125, 60.797035217285156 ]
[ 51.328125, 91.318359375, 120.9375, 33.22265625, -6.50390625, 61.01108169555664 ]
2.433333
73
0
73
0
[ 50.9765625, 89.208984375, 118.212890625, 27.333984375, -6.767578125, 60.797035217285156 ]
[ 51.15234375, 90.966796875, 120.9375, 31.552734375, -6.50390625, 61.01108169555664 ]
2.466667
74
0
74
0
[ 50.9765625, 88.857421875, 118.125, 26.54296875, -6.767578125, 60.797035217285156 ]
[ 51.240234375, 89.384765625, 120.9375, 29.53125, -6.50390625, 61.01108169555664 ]
2.5
75
0
75
0
[ 50.9765625, 88.681640625, 118.037109375, 26.54296875, -6.85546875, 60.7043571472168 ]
[ 51.328125, 88.9453125, 120.9375, 29.00390625, -6.50390625, 61.01108169555664 ]
2.533333
76
0
76
0
[ 50.9765625, 88.681640625, 118.037109375, 26.54296875, -6.85546875, 60.61167907714844 ]
[ 51.328125, 88.41796875, 121.025390625, 28.30078125, -6.50390625, 61.01108169555664 ]
2.566667
77
0
77
0
[ 50.9765625, 88.681640625, 118.037109375, 26.71875, -6.85546875, 60.333641052246094 ]
[ 51.328125, 88.2421875, 121.025390625, 28.212890625, -6.50390625, 61.01108169555664 ]
2.6
78
0
78
0
[ 50.9765625, 88.681640625, 118.037109375, 26.71875, -6.85546875, 58.9434700012207 ]
[ 51.328125, 88.154296875, 121.025390625, 28.212890625, -6.50390625, 60.80332565307617 ]
2.633333
79
0
79
0
[ 50.9765625, 88.681640625, 118.037109375, 26.71875, -6.85546875, 56.904541015625 ]
[ 51.328125, 88.154296875, 121.025390625, 28.212890625, -6.50390625, 60.66482162475586 ]
2.666667
80
0
80
0
[ 50.9765625, 88.681640625, 118.037109375, 26.89453125, -6.6796875, 53.29008102416992 ]
[ 51.328125, 88.154296875, 121.025390625, 28.212890625, -6.50390625, 59.41828536987305 ]
2.7
81
0
81
0
[ 50.9765625, 88.76953125, 118.037109375, 26.89453125, -6.15234375, 47.45134353637695 ]
[ 51.328125, 88.154296875, 121.025390625, 28.212890625, -6.50390625, 57.202213287353516 ]
2.733333
82
0
82
0
[ 50.9765625, 88.76953125, 118.037109375, 26.89453125, -5.9765625, 39.110286712646484 ]
[ 51.328125, 88.154296875, 121.025390625, 28.212890625, -6.50390625, 54.2243766784668 ]
2.766667
83
0
83
0
[ 50.9765625, 88.76953125, 118.037109375, 26.630859375, -5.9765625, 28.08155632019043 ]
[ 51.328125, 88.154296875, 121.025390625, 28.212890625, -6.50390625, 48.54570770263672 ]
2.8
84
0
84
0
[ 50.9765625, 88.681640625, 118.037109375, 26.54296875, -6.50390625, 21.3160343170166 ]
[ 51.328125, 88.154296875, 121.025390625, 28.212890625, -6.50390625, 44.39058303833008 ]
2.833333
85
0
85
0
[ 50.9765625, 88.505859375, 118.037109375, 26.455078125, -6.767578125, 13.80908203125 ]
[ 51.328125, 88.154296875, 121.025390625, 28.037109375, -6.50390625, 38.9196662902832 ]
2.866667
86
0
86
0
[ 50.9765625, 88.505859375, 118.037109375, 26.455078125, -6.767578125, 6.116774559020996 ]
[ 51.328125, 88.154296875, 121.025390625, 27.94921875, -6.50390625, 31.44044303894043 ]
2.9
87
0
87
0
[ 50.9765625, 88.505859375, 118.037109375, 26.455078125, -6.767578125, -1.4828544855117798 ]
[ 51.328125, 88.06640625, 121.025390625, 27.94921875, -6.6796875, 21.814403533935547 ]
2.933333
88
0
88
0
[ 50.9765625, 88.41796875, 118.037109375, 26.3671875, -6.767578125, -2.2242817878723145 ]
[ 51.416015625, 88.41796875, 120.9375, 27.94921875, -6.6796875, 13.1578950881958 ]
2.966667
89
0
89
0
[ 50.9765625, 88.41796875, 118.037109375, 26.3671875, -6.767578125, -0.8341056108474731 ]
[ 51.50390625, 88.59375, 120.498046875, 27.94921875, -6.6796875, 7.548476696014404 ]
3
90
0
90
0
[ 50.9765625, 88.41796875, 118.037109375, 26.3671875, -6.767578125, -0.2780352234840393 ]
[ 51.591796875, 89.384765625, 120.322265625, 27.94921875, -6.6796875, 3.3933515548706055 ]
3.033333
91
0
91
0
[ 50.9765625, 88.41796875, 118.037109375, 26.3671875, -6.767578125, 0 ]
[ 51.591796875, 89.296875, 120.234375, 27.94921875, -6.6796875, 1.9390580654144287 ]
3.066667
92
0
92
0
[ 50.9765625, 88.41796875, 118.037109375, 26.3671875, -6.767578125, 0 ]
[ 51.591796875, 89.296875, 120.234375, 27.94921875, -6.6796875, 1.5927977561950684 ]
3.1
93
0
93
0
[ 50.9765625, 88.505859375, 118.037109375, 26.3671875, -6.767578125, 0 ]
[ 51.591796875, 89.296875, 120.234375, 27.94921875, -6.6796875, 1.5235456228256226 ]
3.133333
94
0
94
0
[ 50.9765625, 88.59375, 118.125, 26.3671875, -6.767578125, 0 ]
[ 51.591796875, 89.296875, 120.234375, 27.94921875, -6.6796875, 1.4542936086654663 ]
3.166667
95
0
95
0
[ 50.9765625, 88.681640625, 118.125, 26.3671875, -6.767578125, 0.37071362137794495 ]
[ 51.591796875, 89.296875, 120.234375, 27.94921875, -6.6796875, 1.4542936086654663 ]
3.2
96
0
96
0
[ 50.9765625, 88.681640625, 118.125, 26.3671875, -6.767578125, 0.37071362137794495 ]
[ 51.591796875, 89.296875, 120.234375, 27.94921875, -6.6796875, 1.4542936086654663 ]
3.233333
97
0
97
0
[ 50.9765625, 88.681640625, 118.125, 26.3671875, -6.767578125, 0.37071362137794495 ]
[ 51.591796875, 89.296875, 120.234375, 27.94921875, -6.6796875, 1.4542936086654663 ]
3.266667
98
0
98
0
[ 50.9765625, 88.681640625, 118.125, 26.3671875, -6.767578125, 0.37071362137794495 ]
[ 51.591796875, 89.296875, 120.234375, 27.94921875, -6.6796875, 1.4542936086654663 ]
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": 1425,
    "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.laptop": {
            "dtype": "video",
            "shape": [
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                640,
                3
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            "names": [
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            "info": {
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                "video.pix_fmt": "yuv420p",
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        "observation.images.phone": {
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            "names": [
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                "channels"
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            "info": {
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                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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