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Datasets:
L7-Robotics
/
so101_3cam_red_cube_white_bowl_v2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
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pandas
Polars
License:
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observation.state
list
timestamp
float32
0
25.6
frame_index
int64
0
512
episode_index
int64
0
29
index
int64
0
13k
task_index
int64
0
0
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2
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2.45
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2.5
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2.75
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[ -1.5384615659713745, -96.26373291015625, 95.95604705810547, 53.098899841308594, 1.4505494832992554, 0.6720430254936218 ]
2.8
56
0
56
0
[ 0.04395604506134987, -103.03296661376953, 92.13186645507812, 53.406593322753906, 1.4505494832992554, 0.16260161995887756 ]
[ -1.4505494832992554, -96.26373291015625, 95.95604705810547, 53.098899841308594, 1.4505494832992554, 0.6720430254936218 ]
2.85
57
0
57
0
[ 0.04395604506134987, -103.03296661376953, 89.84615325927734, 53.406593322753906, 1.4505494832992554, 0.16260161995887756 ]
[ -0.9230769276618958, -96.26373291015625, 95.6043930053711, 53.098899841308594, 1.4505494832992554, 0.6720430254936218 ]
2.9
58
0
58
0
[ -0.21978022158145905, -102.94505310058594, 87.73626708984375, 53.406593322753906, 1.4505494832992554, 0.16260161995887756 ]
[ -0.5714285969734192, -96.26373291015625, 94.63735961914062, 53.098899841308594, 1.4505494832992554, 0.6720430254936218 ]
2.95
59
0
59
0
[ -0.6593406796455383, -102.5054931640625, 85.80220031738281, 53.67033004760742, 1.5384615659713745, 0.16260161995887756 ]
[ -0.48351648449897766, -96.26373291015625, 93.31867980957031, 53.098899841308594, 1.4505494832992554, 0.6720430254936218 ]
3
60
0
60
0
[ -0.8351648449897766, -102.4175796508789, 84.04395294189453, 53.758243560791016, 1.5384615659713745, 0.16260161995887756 ]
[ -0.48351648449897766, -96.26373291015625, 91.47252655029297, 53.18681335449219, 1.4505494832992554, 0.6720430254936218 ]
3.05
61
0
61
0
[ -1.0989011526107788, -102.4175796508789, 82.28571319580078, 53.758243560791016, 1.5384615659713745, 0.16260161995887756 ]
[ -0.48351648449897766, -96.26373291015625, 89.62637329101562, 53.53845977783203, 1.4505494832992554, 0.6720430254936218 ]
3.1
62
0
62
0
[ -1.890109896659851, -102.32967376708984, 80.70330047607422, 53.758243560791016, 1.6263736486434937, 0.16260161995887756 ]
[ -0.48351648449897766, -96.26373291015625, 87.86813354492188, 53.626373291015625, 1.4505494832992554, 0.6720430254936218 ]
3.15
63
0
63
0
[ -2.3296704292297363, -102.32967376708984, 79.29669952392578, 53.758243560791016, 1.6263736486434937, 0.16260161995887756 ]
[ -0.5714285969734192, -96.35164642333984, 86.02198028564453, 53.626373291015625, 1.4505494832992554, 0.6720430254936218 ]
3.2
64
0
64
0
[ -2.681318759918213, -102.24176025390625, 78.15384674072266, 53.846153259277344, 1.6263736486434937, 0.16260161995887756 ]
[ -1.3626374006271362, -96.35164642333984, 84.43955993652344, 53.626373291015625, 1.4505494832992554, 0.6720430254936218 ]
3.25
65
0
65
0
[ -3.0329670906066895, -102.24176025390625, 77.27472686767578, 53.846153259277344, 1.6263736486434937, 0.24390244483947754 ]
[ -1.802197813987732, -96.35164642333984, 82.94505310058594, 53.626373291015625, 1.4505494832992554, 0.6720430254936218 ]
3.3
66
0
66
0
[ -3.5604395866394043, -101.80220031738281, 76.3956069946289, 54.5494499206543, 1.6263736486434937, 0.24390244483947754 ]
[ -2.241758346557617, -96.35164642333984, 81.71428680419922, 53.626373291015625, 1.4505494832992554, 0.6720430254936218 ]
3.35
67
0
67
0
[ -3.912087917327881, -100.48351287841797, 74.63735961914062, 55.78022003173828, 1.6263736486434937, 0.24390244483947754 ]
[ -2.769230842590332, -96.35164642333984, 80.57142639160156, 53.80219650268555, 1.4505494832992554, 0.6720430254936218 ]
3.4
68
0
68
0
[ -4, -98.28571319580078, 72.52747344970703, 57.098899841308594, 1.6263736486434937, 0.24390244483947754 ]
[ -3.2087912559509277, -96.35164642333984, 79.51648712158203, 54.5054931640625, 1.4505494832992554, 0.6720430254936218 ]
3.45
69
0
69
0
[ -4, -95.12088012695312, 70.06593322753906, 57.978023529052734, 1.6263736486434937, 0.24390244483947754 ]
[ -3.5604395866394043, -96.35164642333984, 78.02198028564453, 55.64834976196289, 1.4505494832992554, 0.6720430254936218 ]
3.5
70
0
70
0
[ -4.263736248016357, -91.25274658203125, 67.34066009521484, 58.41758346557617, 1.6263736486434937, 0.24390244483947754 ]
[ -3.6483516693115234, -96.35164642333984, 76.0879135131836, 56.70329666137695, 1.4505494832992554, 0.6720430254936218 ]
3.55
71
0
71
0
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3.6
72
0
72
0
[ -4.263736248016357, -82.54945373535156, 61.010990142822266, 58.68132019042969, 1.6263736486434937, 0.24390244483947754 ]
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3.65
73
0
73
0
[ -4.087912082672119, -78.06593322753906, 57.58241653442383, 58.68132019042969, 1.6263736486434937, 0.24390244483947754 ]
[ -3.7362637519836426, -90.28571319580078, 68, 58.28571319580078, 1.4505494832992554, 0.6720430254936218 ]
3.7
74
0
74
0
[ -3.912087917327881, -73.75823974609375, 54.06593322753906, 58.68132019042969, 1.5384615659713745, 0.24390244483947754 ]
[ -3.6483516693115234, -86.15384674072266, 65.010986328125, 58.46154022216797, 1.4505494832992554, 0.6720430254936218 ]
3.75
75
0
75
0
[ -3.7362637519836426, -69.80220031738281, 50.989009857177734, 58.68132019042969, 1.5384615659713745, 0.24390244483947754 ]
[ -3.6483516693115234, -81.84615325927734, 61.846153259277344, 58.46154022216797, 1.4505494832992554, 0.6720430254936218 ]
3.8
76
0
76
0
[ -3.296703338623047, -66.46154022216797, 48.087913513183594, 58.769229888916016, 1.4505494832992554, 0.24390244483947754 ]
[ -3.6483516693115234, -77.36264038085938, 58.5054931640625, 58.46154022216797, 1.4505494832992554, 0.6720430254936218 ]
3.85
77
0
77
0
[ -2.5054945945739746, -63.64834976196289, 45.4505500793457, 59.736263275146484, 1.4505494832992554, 0.24390244483947754 ]
[ -3.6483516693115234, -73.23076629638672, 55.25274658203125, 58.46154022216797, 1.4505494832992554, 0.6720430254936218 ]
3.9
78
0
78
0
[ -2.3296704292297363, -61.010990142822266, 42.901100158691406, 61.4945068359375, 1.4505494832992554, 0.24390244483947754 ]
[ -3.5604395866394043, -69.45054626464844, 52.263736724853516, 58.72527313232422, 1.4505494832992554, 0.6720430254936218 ]
3.95
79
0
79
0
[ -2.065934181213379, -58.81318664550781, 40.52747344970703, 63.69230651855469, 1.4505494832992554, 0.24390244483947754 ]
[ -3.0329670906066895, -66.10989379882812, 49.36263656616211, 59.69230651855469, 1.4505494832992554, 0.6720430254936218 ]
4
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0
80
0
[ -2.065934181213379, -57.05494689941406, 38.593406677246094, 65.97801971435547, 1.4505494832992554, 0.24390244483947754 ]
[ -2.857142925262451, -63.03296661376953, 46.901100158691406, 61.010990142822266, 1.4505494832992554, 0.6720430254936218 ]
4.05
81
0
81
0
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4.1
82
0
82
0
[ -1.9780219793319702, -53.4505500793457, 35.69230651855469, 70.46154022216797, 1.4505494832992554, 1.7886178493499756 ]
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4.15
83
0
83
0
[ -1.890109896659851, -51.69230651855469, 34.81318664550781, 72.48351287841797, 1.3626374006271362, 7.0731706619262695 ]
[ -2.3296704292297363, -56.43955993652344, 40.659339904785156, 67.25274658203125, 1.4505494832992554, 0.7392473220825195 ]
4.2
84
0
84
0
[ -1.802197813987732, -50.19780349731445, 34.373626708984375, 73.80220031738281, 1.186813235282898, 14.065040588378906 ]
[ -2.3296704292297363, -54.769229888916016, 39.16483688354492, 69.36264038085938, 1.4505494832992554, 1.545698881149292 ]
4.25
85
0
85
0
[ -1.4505494832992554, -49.31867980957031, 34.28571319580078, 74.4175796508789, 1.0109890699386597, 20.162601470947266 ]
[ -2.3296704292297363, -53.010990142822266, 38.021976470947266, 71.47252655029297, 1.4505494832992554, 3.6290323734283447 ]
4.3
86
0
86
0
[ -0.48351648449897766, -48.52747344970703, 34.28571319580078, 74.5934066772461, 0.9230769276618958, 23.57723617553711 ]
[ -2.3296704292297363, -51.340660095214844, 37.4945068359375, 72.87911987304688, 1.4505494832992554, 8.467741966247559 ]
4.35
87
0
87
0
[ 0.21978022158145905, -47.736263275146484, 34.19780349731445, 74.5934066772461, 1.274725317955017, 24.7967472076416 ]
[ -2.065934181213379, -50.10988998413086, 37.230770111083984, 73.75823974609375, 1.4505494832992554, 13.978494644165039 ]
4.4
88
0
88
0
[ 1.186813235282898, -47.120880126953125, 34.46154022216797, 74.5054931640625, 1.3626374006271362, 24.7967472076416 ]
[ -1.186813235282898, -49.14285659790039, 37.05494689941406, 74.19779968261719, 1.4505494832992554, 18.95161247253418 ]
4.45
89
0
89
0
[ 1.802197813987732, -46.41758346557617, 34.989009857177734, 74.5054931640625, 1.4505494832992554, 24.7967472076416 ]
[ -0.3956044018268585, -48.263736724853516, 37.05494689941406, 74.28571319580078, 1.4505494832992554, 21.774192810058594 ]
4.5
90
0
90
0
[ 1.9780219793319702, -45.36263656616211, 35.16483688354492, 74.5934066772461, 1.4505494832992554, 24.7967472076416 ]
[ 0.3956044018268585, -47.38461685180664, 37.05494689941406, 74.37362670898438, 1.4505494832992554, 23.051074981689453 ]
4.55
91
0
91
0
[ 1.9780219793319702, -44.21977996826172, 35.516483306884766, 74.68132019042969, 1.4505494832992554, 24.7967472076416 ]
[ 1.0989011526107788, -46.68132019042969, 37.05494689941406, 74.37362670898438, 1.4505494832992554, 23.72311782836914 ]
4.6
92
0
92
0
[ 1.890109896659851, -43.16483688354492, 35.9560432434082, 74.68132019042969, 1.4505494832992554, 24.7967472076416 ]
[ 1.274725317955017, -45.71428680419922, 37.05494689941406, 74.37362670898438, 1.4505494832992554, 24.126344680786133 ]
4.65
93
0
93
0
[ 1.9780219793319702, -42.10988998413086, 36.0439567565918, 74.68132019042969, 1.4505494832992554, 24.7967472076416 ]
[ 1.274725317955017, -44.659339904785156, 37.05494689941406, 74.37362670898438, 1.4505494832992554, 24.327957153320312 ]
4.7
94
0
94
0
[ 1.9780219793319702, -40.96703338623047, 36.0439567565918, 75.20879364013672, 1.5384615659713745, 24.7967472076416 ]
[ 1.274725317955017, -43.60439682006836, 37.05494689941406, 74.37362670898438, 1.4505494832992554, 24.462366104125977 ]
4.75
95
0
95
0
[ 1.890109896659851, -39.56044006347656, 35.60439682006836, 76.61538696289062, 1.5384615659713745, 24.7967472076416 ]
[ 1.274725317955017, -42.46154022216797, 37.05494689941406, 74.46154022216797, 1.4505494832992554, 24.462366104125977 ]
4.8
96
0
96
0
[ 1.4505494832992554, -37.80219650268555, 35.340660095214844, 78.28571319580078, 1.5384615659713745, 24.7967472076416 ]
[ 1.274725317955017, -41.31867980957031, 37.05494689941406, 75.16483306884766, 1.4505494832992554, 24.462366104125977 ]
4.85
97
0
97
0
[ 1.3626374006271362, -36.0439567565918, 35.25274658203125, 79.25274658203125, 1.5384615659713745, 24.7967472076416 ]
[ 1.274725317955017, -40, 37.05494689941406, 76.21977996826172, 1.4505494832992554, 24.462366104125977 ]
4.9
98
0
98
0
[ 1.3626374006271362, -34.28571319580078, 35.25274658203125, 79.69230651855469, 1.5384615659713745, 24.7967472076416 ]
[ 1.274725317955017, -38.5054931640625, 37.05494689941406, 77.62637329101562, 1.4505494832992554, 24.462366104125977 ]
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",
    "robot_type": "so_follower",
    "total_episodes": 30,
    "total_frames": 12965,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
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    "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",
    "features": {
        "action": {
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            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
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        "observation.state": {
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            "names": [
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                "shoulder_lift.pos",
                "elbow_flex.pos",
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        "observation.images.top": {
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        "observation.images.rear": {
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        "observation.images.wrist": {
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "task_index": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
apache-2.0
Number of rows:
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Total file size:
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Models trained or fine-tuned on L7-Robotics/so101_3cam_red_cube_white_bowl_v2