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Datasets:
L7-Robotics
/
so101_3cam_20fps_cube_tasks_merge_v2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
100K - 1M
Tags:
LeRobot
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
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[ -4.703296661376953, -103.38461303710938, 88.61538696289062, 71.69230651855469, 2.241758346557617, 0.6504064798355103 ]
[ -4.9670329093933105, -97.67032623291016, 93.05494689941406, 72.52747344970703, 1.9780219793319702, 1.4112902879714966 ]
2.9
58
0
58
0
[ -4.703296661376953, -103.29669952392578, 87.82417297363281, 70.989013671875, 2.241758346557617, 0.7317073345184326 ]
[ -4.9670329093933105, -97.67032623291016, 92.43955993652344, 72.52747344970703, 1.9780219793319702, 1.4112902879714966 ]
2.95
59
0
59
0
[ -4.9670329093933105, -103.20879364013672, 86.76923370361328, 70.9011001586914, 2.3296704292297363, 0.7317073345184326 ]
[ -4.9670329093933105, -97.67032623291016, 91.64835357666016, 72.0879135131836, 1.9780219793319702, 1.4112902879714966 ]
3
60
0
60
0
[ -5.406593322753906, -103.20879364013672, 85.80220031738281, 71.34066009521484, 2.3296704292297363, 0.7317073345184326 ]
[ -4.9670329093933105, -97.67032623291016, 90.94505310058594, 71.73626708984375, 1.9780219793319702, 1.4112902879714966 ]
3.05
61
0
61
0
[ -5.5824174880981445, -103.12088012695312, 84.92308044433594, 71.34066009521484, 2.3296704292297363, 0.7317073345184326 ]
[ -5.05494499206543, -97.67032623291016, 89.89010620117188, 71.64835357666016, 1.9780219793319702, 1.4112902879714966 ]
3.1
62
0
62
0
[ -5.670329570770264, -103.12088012695312, 83.86813354492188, 71.34066009521484, 2.3296704292297363, 0.7317073345184326 ]
[ -5.05494499206543, -97.67032623291016, 88.92308044433594, 71.64835357666016, 1.9780219793319702, 1.4112902879714966 ]
3.15
63
0
63
0
[ -5.758241653442383, -103.03296661376953, 82.63735961914062, 71.34066009521484, 2.3296704292297363, 0.7317073345184326 ]
[ -5.05494499206543, -97.67032623291016, 87.95604705810547, 71.64835357666016, 1.9780219793319702, 1.4112902879714966 ]
3.2
64
0
64
0
[ -5.758241653442383, -101.97801971435547, 81.31867980957031, 71.42857360839844, 2.3296704292297363, 0.8130081295967102 ]
[ -5.05494499206543, -97.67032623291016, 86.9011001586914, 71.64835357666016, 1.9780219793319702, 1.4112902879714966 ]
3.25
65
0
65
0
[ -5.758241653442383, -99.78022003173828, 79.64835357666016, 71.42857360839844, 2.3296704292297363, 0.8130081295967102 ]
[ -5.05494499206543, -97.67032623291016, 85.67032623291016, 71.64835357666016, 1.9780219793319702, 1.4112902879714966 ]
3.3
66
0
66
0
[ -5.758241653442383, -96.35164642333984, 77.53845977783203, 71.42857360839844, 2.3296704292297363, 0.8130081295967102 ]
[ -5.05494499206543, -97.67032623291016, 84.52747344970703, 71.64835357666016, 1.9780219793319702, 1.4112902879714966 ]
3.35
67
0
67
0
[ -5.758241653442383, -92.13186645507812, 74.81318664550781, 71.34066009521484, 2.3296704292297363, 0.8130081295967102 ]
[ -5.05494499206543, -97.4945068359375, 82.94505310058594, 71.64835357666016, 1.9780219793319702, 1.4112902879714966 ]
3.4
68
0
68
0
[ -5.846153736114502, -87.29669952392578, 71.47252655029297, 71.34066009521484, 2.3296704292297363, 0.8130081295967102 ]
[ -5.05494499206543, -97.05494689941406, 81.010986328125, 71.64835357666016, 1.9780219793319702, 1.4112902879714966 ]
3.45
69
0
69
0
[ -5.846153736114502, -82.28571319580078, 68.04395294189453, 71.16483306884766, 2.3296704292297363, 0.8130081295967102 ]
[ -5.05494499206543, -94.76923370361328, 78.46154022216797, 71.64835357666016, 1.9780219793319702, 1.4112902879714966 ]
3.5
70
0
70
0
[ -5.5824174880981445, -77.53845977783203, 64.52747344970703, 71.25274658203125, 2.241758346557617, 0.8130081295967102 ]
[ -5.230769157409668, -90.9011001586914, 75.38461303710938, 71.64835357666016, 1.9780219793319702, 1.4112902879714966 ]
3.55
71
0
71
0
[ -5.318681240081787, -73.23076629638672, 61.098899841308594, 71.25274658203125, 2.241758346557617, 0.8130081295967102 ]
[ -5.05494499206543, -86.5054931640625, 72.30769348144531, 71.64835357666016, 1.9780219793319702, 1.4112902879714966 ]
3.6
72
0
72
0
[ -5.230769157409668, -69.36264038085938, 57.846153259277344, 71.25274658203125, 2.241758346557617, 0.8130081295967102 ]
[ -5.230769157409668, -82.02198028564453, 68.87911987304688, 71.64835357666016, 1.9780219793319702, 1.4112902879714966 ]
3.65
73
0
73
0
[ -4.615384578704834, -66.19779968261719, 54.41758346557617, 71.34066009521484, 2.241758346557617, 0.8130081295967102 ]
[ -5.05494499206543, -77.45054626464844, 65.53845977783203, 71.64835357666016, 1.9780219793319702, 1.4112902879714966 ]
3.7
74
0
74
0
[ -4.175824165344238, -63.20878982543945, 50.989009857177734, 71.34066009521484, 2.241758346557617, 0.8130081295967102 ]
[ -5.142857074737549, -73.14286041259766, 62.28571319580078, 71.64835357666016, 1.9780219793319702, 1.4112902879714966 ]
3.75
75
0
75
0
[ -4, -60.659339904785156, 47.82417678833008, 71.34066009521484, 2.241758346557617, 0.8130081295967102 ]
[ -5.05494499206543, -69.27472686767578, 58.85714340209961, 71.64835357666016, 1.9780219793319702, 1.4112902879714966 ]
3.8
76
0
76
0
[ -4, -58.63736343383789, 45.18681335449219, 71.78022003173828, 2.241758346557617, 0.8130081295967102 ]
[ -4.791208744049072, -65.93406677246094, 55.42856979370117, 71.64835357666016, 1.9780219793319702, 1.4112902879714966 ]
3.85
77
0
77
0
[ -4, -56.79121017456055, 43.07692337036133, 72.21977996826172, 2.241758346557617, 0.8130081295967102 ]
[ -4.527472496032715, -63.03296661376953, 52.17582321166992, 71.64835357666016, 1.9780219793319702, 1.4112902879714966 ]
3.9
78
0
78
0
[ -4.087912082672119, -55.29670333862305, 41.4945068359375, 72.48351287841797, 2.241758346557617, 0.8130081295967102 ]
[ -4.527472496032715, -60.659339904785156, 49.36263656616211, 71.82417297363281, 1.9780219793319702, 1.4112902879714966 ]
3.95
79
0
79
0
[ -4.087912082672119, -53.89011001586914, 40.087913513183594, 73.36264038085938, 2.241758346557617, 0.8130081295967102 ]
[ -4.439560413360596, -58.373626708984375, 47.07692337036133, 72.0879135131836, 1.9780219793319702, 1.4112902879714966 ]
4
80
0
80
0
[ -4.087912082672119, -52.57143020629883, 38.85714340209961, 74.68132019042969, 2.241758346557617, 0.8943089246749878 ]
[ -4.439560413360596, -56.70329666137695, 45.14285659790039, 72.52747344970703, 1.9780219793319702, 1.4112902879714966 ]
4.05
81
0
81
0
[ -4.087912082672119, -51.07692337036133, 37.53845977783203, 76.52747344970703, 2.241758346557617, 0.8943089246749878 ]
[ -4.439560413360596, -55.120880126953125, 43.38461685180664, 73.31867980957031, 1.9780219793319702, 1.4112902879714966 ]
4.1
82
0
82
0
[ -4.087912082672119, -49.58241653442383, 36.30769348144531, 78.54945373535156, 2.241758346557617, 1.056910514831543 ]
[ -4.439560413360596, -53.626373291015625, 41.978023529052734, 74.46154022216797, 1.9780219793319702, 1.4112902879714966 ]
4.15
83
0
83
0
[ -4, -48.087913513183594, 35.340660095214844, 80.3956069946289, 2.241758346557617, 3.8211381435394287 ]
[ -4.439560413360596, -52.21977996826172, 40.659339904785156, 75.86813354492188, 1.9780219793319702, 1.4112902879714966 ]
4.2
84
0
84
0
[ -3.912087917327881, -46.769229888916016, 34.901100158691406, 81.71428680419922, 2.241758346557617, 9.512195587158203 ]
[ -4.439560413360596, -50.72527313232422, 39.42856979370117, 77.80220031738281, 1.9780219793319702, 1.4112902879714966 ]
4.25
85
0
85
0
[ -2.9450550079345703, -45.89011001586914, 34.901100158691406, 81.89010620117188, 2.241758346557617, 15.691057205200195 ]
[ -4.439560413360596, -49.230770111083984, 38.46154022216797, 79.47252655029297, 1.9780219793319702, 2.822580575942993 ]
4.3
86
0
86
0
[ -1.6263736486434937, -44.83516311645508, 34.81318664550781, 81.62637329101562, 2.241758346557617, 20.487804412841797 ]
[ -4.439560413360596, -47.82417678833008, 37.93406677246094, 80.79120635986328, 1.9780219793319702, 6.048387050628662 ]
4.35
87
0
87
0
[ -0.6593406796455383, -44.30769348144531, 34.989009857177734, 80.3956069946289, 2.241758346557617, 22.601625442504883 ]
[ -3.6483516693115234, -46.68132019042969, 37.846153259277344, 81.14286041259766, 1.9780219793319702, 10.75268840789795 ]
4.4
88
0
88
0
[ 0.48351648449897766, -43.78022003173828, 34.989009857177734, 79.34066009521484, 2.241758346557617, 22.682926177978516 ]
[ -2.5934066772460938, -45.53845977783203, 37.846153259277344, 81.05494689941406, 1.9780219793319702, 15.658601760864258 ]
4.45
89
0
89
0
[ 1.3626374006271362, -42.989009857177734, 34.901100158691406, 78.63735961914062, 2.241758346557617, 22.682926177978516 ]
[ -1.5384615659713745, -44.83516311645508, 37.846153259277344, 80.61538696289062, 1.9780219793319702, 19.220430374145508 ]
4.5
90
0
90
0
[ 1.6263736486434937, -42.021976470947266, 34.901100158691406, 78.54945373535156, 2.3296704292297363, 22.682926177978516 ]
[ -0.48351648449897766, -44.131866455078125, 37.846153259277344, 79.9120864868164, 1.9780219793319702, 20.698925018310547 ]
4.55
91
0
91
0
[ 1.6263736486434937, -40.61538314819336, 34.901100158691406, 78.54945373535156, 2.3296704292297363, 22.682926177978516 ]
[ 0.3956044018268585, -43.340660095214844, 37.846153259277344, 79.47252655029297, 1.9780219793319702, 21.5053768157959 ]
4.6
92
0
92
0
[ 1.6263736486434937, -38.94505310058594, 34.989009857177734, 78.54945373535156, 2.3296704292297363, 22.682926177978516 ]
[ 0.7472527623176575, -42.373626708984375, 37.846153259277344, 79.29669952392578, 1.9780219793319702, 21.908601760864258 ]
4.65
93
0
93
0
[ 1.6263736486434937, -37.18681335449219, 34.901100158691406, 78.37362670898438, 2.3296704292297363, 22.682926177978516 ]
[ 0.9230769276618958, -41.14285659790039, 37.846153259277344, 79.29669952392578, 1.9780219793319702, 22.110214233398438 ]
4.7
94
0
94
0
[ 1.802197813987732, -35.516483306884766, 34.901100158691406, 77.4065933227539, 2.3296704292297363, 22.682926177978516 ]
[ 1.0989011526107788, -39.64834976196289, 37.846153259277344, 79.12088012695312, 1.9780219793319702, 22.110214233398438 ]
4.75
95
0
95
0
[ 1.9780219793319702, -33.93406677246094, 34.901100158691406, 76.43955993652344, 2.3296704292297363, 22.682926177978516 ]
[ 1.186813235282898, -38.06593322753906, 37.846153259277344, 78.68132019042969, 1.9780219793319702, 22.110214233398438 ]
4.8
96
0
96
0
[ 1.9780219793319702, -32.35165023803711, 34.901100158691406, 75.82417297363281, 2.3296704292297363, 22.682926177978516 ]
[ 1.274725317955017, -36.39560317993164, 37.846153259277344, 77.89010620117188, 1.9780219793319702, 22.110214233398438 ]
4.85
97
0
97
0
[ 1.9780219793319702, -31.120878219604492, 34.901100158691406, 75.73626708984375, 2.3296704292297363, 22.682926177978516 ]
[ 1.274725317955017, -34.72527313232422, 37.846153259277344, 77.0988998413086, 1.9780219793319702, 22.110214233398438 ]
4.9
98
0
98
0
[ 1.9780219793319702, -29.80219841003418, 35.07692337036133, 75.73626708984375, 2.3296704292297363, 22.682926177978516 ]
[ 1.274725317955017, -33.05494689941406, 37.846153259277344, 76.57142639160156, 1.9780219793319702, 22.110214233398438 ]
4.95
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "fps": 20,
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
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                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
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        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
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                6
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        },
        "observation.images.top": {
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        "observation.images.wrist": {
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        "task_index": {
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    },
    "total_episodes": 402,
    "total_frames": 163345,
    "total_tasks": 4,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "robot_type": "so_follower",
    "splits": {
        "train": "0:402"
    }
}

Citation

BibTeX:

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Models trained or fine-tuned on L7-Robotics/so101_3cam_20fps_cube_tasks_merge_v2