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Datasets:
Intetsu
/
so101_demo_115210

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
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action
sequence
observation.state
sequence
timestamp
float32
0
13.6
frame_index
int64
0
407
episode_index
int64
0
2
index
int64
0
1.21k
task_index
int64
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[ -25.224609375, 134.47265625, 133.681640625, 52.91015625, 0.439453125, -0.4351610243320465 ]
[ -27.24609375, 127.6171875, 134.384765625, 52.91015625, 2.197265625, 4.210526466369629 ]
2.433333
73
0
73
0
[ -24.521484375, 135.52734375, 133.59375, 52.55859375, 0.439453125, -0.4351610243320465 ]
[ -26.71875, 129.55078125, 134.384765625, 52.91015625, 1.494140625, 4.210526466369629 ]
2.466667
74
0
74
0
[ -23.291015625, 135.87890625, 133.41796875, 52.3828125, 0.439453125, -0.4351610243320465 ]
[ -26.19140625, 131.1328125, 134.384765625, 52.91015625, 1.0546875, 4.210526466369629 ]
2.5
75
0
75
0
[ -21.708984375, 135.791015625, 133.2421875, 52.294921875, 0.3515625, 0.17406439781188965 ]
[ -25.48828125, 132.275390625, 134.384765625, 52.91015625, 0.791015625, 4.210526466369629 ]
2.533333
76
0
76
0
[ -20.21484375, 135.703125, 132.626953125, 52.470703125, 0.3515625, 0.2610965967178345 ]
[ -24.521484375, 133.154296875, 134.384765625, 52.91015625, 0.703125, 4.210526466369629 ]
2.566667
77
0
77
0
[ -18.80859375, 135.3515625, 132.01171875, 52.734375, 0.3515625, 0.2610965967178345 ]
[ -23.291015625, 133.681640625, 134.384765625, 52.91015625, 0.52734375, 4.210526466369629 ]
2.6
78
0
78
0
[ -17.40234375, 134.6484375, 131.396484375, 52.822265625, 0.439453125, 0.2610965967178345 ]
[ -21.97265625, 133.76953125, 134.384765625, 52.91015625, 0.52734375, 4.210526466369629 ]
2.633333
79
0
79
0
[ -16.083984375, 133.681640625, 130.517578125, 52.91015625, 0.439453125, 0.3481287956237793 ]
[ -20.654296875, 133.76953125, 134.384765625, 52.91015625, 0.52734375, 4.210526466369629 ]
2.666667
80
0
80
0
[ -15.029296875, 132.451171875, 129.375, 52.91015625, 0.439453125, 0.3481287956237793 ]
[ -19.248046875, 133.76953125, 134.296875, 52.91015625, 0.52734375, 4.210526466369629 ]
2.7
81
0
81
0
[ -14.326171875, 131.1328125, 128.056640625, 52.91015625, 0.439453125, 0.3481287956237793 ]
[ -17.841796875, 133.41796875, 133.857421875, 52.998046875, 0.52734375, 4.210526466369629 ]
2.733333
82
0
82
0
[ -13.53515625, 129.7265625, 126.73828125, 52.91015625, 0.439453125, 0.3481287956237793 ]
[ -16.69921875, 132.626953125, 133.154296875, 52.998046875, 0.52734375, 4.210526466369629 ]
2.766667
83
0
83
0
[ -12.919921875, 128.232421875, 125.15625, 52.822265625, 0.439453125, 0.3481287956237793 ]
[ -15.732421875, 131.572265625, 132.1875, 52.998046875, 0.52734375, 4.210526466369629 ]
2.8
84
0
84
0
[ -12.568359375, 126.5625, 123.3984375, 52.470703125, 0.439453125, 0.3481287956237793 ]
[ -14.853515625, 130.25390625, 131.044921875, 52.998046875, 0.52734375, 4.210526466369629 ]
2.833333
85
0
85
0
[ -12.216796875, 124.892578125, 121.552734375, 52.470703125, 0.439453125, 0.3481287956237793 ]
[ -14.150390625, 129.0234375, 129.7265625, 52.998046875, 0.52734375, 4.210526466369629 ]
2.866667
86
0
86
0
[ -11.865234375, 123.134765625, 119.53125, 52.3828125, 0.439453125, 0.3481287956237793 ]
[ -13.53515625, 127.529296875, 128.232421875, 52.998046875, 0.52734375, 4.210526466369629 ]
2.9
87
0
87
0
[ -11.689453125, 121.376953125, 117.59765625, 52.294921875, 0.439453125, 0.3481287956237793 ]
[ -13.095703125, 125.947265625, 126.5625, 52.998046875, 0.52734375, 4.210526466369629 ]
2.933333
88
0
88
0
[ -11.689453125, 119.53125, 115.576171875, 52.294921875, 0.439453125, 0.3481287956237793 ]
[ -12.744140625, 124.189453125, 124.8046875, 52.998046875, 0.52734375, 4.210526466369629 ]
2.966667
89
0
89
0
[ -11.689453125, 117.59765625, 113.466796875, 52.294921875, 0.439453125, 0.3481287956237793 ]
[ -12.392578125, 122.431640625, 122.87109375, 52.998046875, 0.52734375, 4.210526466369629 ]
3
90
0
90
0
[ -11.689453125, 115.48828125, 111.357421875, 52.294921875, 0.439453125, 0.3481287956237793 ]
[ -12.3046875, 120.5859375, 121.025390625, 52.998046875, 0.52734375, 4.210526466369629 ]
3.033333
91
0
91
0
[ -11.689453125, 113.37890625, 109.248046875, 52.294921875, 0.439453125, 0.3481287956237793 ]
[ -12.3046875, 118.740234375, 119.00390625, 52.998046875, 0.52734375, 4.210526466369629 ]
3.066667
92
0
92
0
[ -11.689453125, 111.09375, 106.962890625, 52.294921875, 0.439453125, 0.3481287956237793 ]
[ -12.3046875, 116.630859375, 116.71875, 52.998046875, 0.52734375, 4.210526466369629 ]
3.1
93
0
93
0
[ -11.689453125, 108.720703125, 104.765625, 52.294921875, 0.439453125, 0.3481287956237793 ]
[ -12.3046875, 114.521484375, 114.521484375, 52.998046875, 0.52734375, 4.210526466369629 ]
3.133333
94
0
94
0
[ -11.689453125, 106.435546875, 102.83203125, 52.294921875, 0.439453125, 0.3481287956237793 ]
[ -12.3046875, 112.587890625, 112.587890625, 52.998046875, 0.52734375, 4.210526466369629 ]
3.166667
95
0
95
0
[ -11.689453125, 104.150390625, 100.810546875, 52.294921875, 0.439453125, 0.4351610243320465 ]
[ -12.3046875, 110.21484375, 110.390625, 52.998046875, 0.52734375, 4.210526466369629 ]
3.2
96
0
96
0
[ -11.689453125, 101.865234375, 99.052734375, 52.294921875, 0.439453125, 0.4351610243320465 ]
[ -12.3046875, 107.9296875, 108.28125, 52.998046875, 0.52734375, 4.210526466369629 ]
3.233333
97
0
97
0
[ -11.6015625, 99.755859375, 97.3828125, 52.294921875, 0.439453125, 0.4351610243320465 ]
[ -12.3046875, 105.556640625, 106.171875, 52.998046875, 0.52734375, 4.210526466369629 ]
3.266667
98
0
98
0
[ -11.513671875, 97.646484375, 95.80078125, 52.294921875, 0.439453125, 0.4351610243320465 ]
[ -12.3046875, 103.095703125, 104.23828125, 52.998046875, 0.52734375, 4.210526466369629 ]
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": 3,
    "total_frames": 1211,
    "total_tasks": 1,
    "total_videos": 3,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:3"
    },
    "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.laptop": {
            "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": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

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