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Datasets:
L7-Robotics
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so101_conveyor_dynamic_center_redcube_whitebowl_v4

Tasks:
Robotics
Modalities:
Tabular
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Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
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float32
0
24.9
frame_index
int64
0
497
episode_index
int64
0
29
index
int64
0
13.3k
task_index
int64
0
0
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2
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2.6
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2.65
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2.7
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2.75
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[ 7.472527503967285, -100.17582702636719, 93.05494689941406, 62.021976470947266, -4.615384578704834, 1.9867550134658813 ]
2.8
56
0
56
0
[ 7.824175834655762, -100.43955993652344, 92.83516693115234, 61.05494689941406, -4.439560413360596, 1.4592933654785156 ]
[ 7.472527503967285, -100.17582702636719, 93.05494689941406, 62.021976470947266, -4.615384578704834, 1.9867550134658813 ]
2.85
57
0
57
0
[ 7.824175834655762, -100.43955993652344, 92.83516693115234, 61.05494689941406, -4.439560413360596, 1.4592933654785156 ]
[ 7.472527503967285, -100.17582702636719, 93.05494689941406, 62.021976470947266, -4.615384578704834, 1.9867550134658813 ]
2.9
58
0
58
0
[ 7.824175834655762, -100.43955993652344, 92.83516693115234, 61.05494689941406, -4.439560413360596, 1.4592933654785156 ]
[ 7.472527503967285, -100.17582702636719, 93.05494689941406, 62.021976470947266, -4.615384578704834, 1.9867550134658813 ]
2.95
59
0
59
0
[ 7.824175834655762, -100.43955993652344, 92.83516693115234, 61.05494689941406, -4.439560413360596, 1.4592933654785156 ]
[ 7.472527503967285, -100.17582702636719, 93.05494689941406, 62.021976470947266, -4.615384578704834, 1.9867550134658813 ]
3
60
0
60
0
[ 7.824175834655762, -100.43955993652344, 92.83516693115234, 61.05494689941406, -4.439560413360596, 1.4592933654785156 ]
[ 7.472527503967285, -100.17582702636719, 93.05494689941406, 62.021976470947266, -4.615384578704834, 1.9867550134658813 ]
3.05
61
0
61
0
[ 7.824175834655762, -100.43955993652344, 92.83516693115234, 61.05494689941406, -4.439560413360596, 1.4592933654785156 ]
[ 7.472527503967285, -100.17582702636719, 93.05494689941406, 62.021976470947266, -4.615384578704834, 1.9867550134658813 ]
3.1
62
0
62
0
[ 7.824175834655762, -100.43955993652344, 92.83516693115234, 61.05494689941406, -4.439560413360596, 1.4592933654785156 ]
[ 7.472527503967285, -100.17582702636719, 93.05494689941406, 62.021976470947266, -4.615384578704834, 1.9867550134658813 ]
3.15
63
0
63
0
[ 7.824175834655762, -100.43955993652344, 92.83516693115234, 61.05494689941406, -4.439560413360596, 1.4592933654785156 ]
[ 7.472527503967285, -100.17582702636719, 93.05494689941406, 62.021976470947266, -4.615384578704834, 1.9867550134658813 ]
3.2
64
0
64
0
[ 7.824175834655762, -100.43955993652344, 92.83516693115234, 61.05494689941406, -4.439560413360596, 1.4592933654785156 ]
[ 7.472527503967285, -100.17582702636719, 93.05494689941406, 62.021976470947266, -4.615384578704834, 1.9867550134658813 ]
3.25
65
0
65
0
[ 7.824175834655762, -100.43955993652344, 92.83516693115234, 61.05494689941406, -4.439560413360596, 1.4592933654785156 ]
[ 7.472527503967285, -100.17582702636719, 93.05494689941406, 62.021976470947266, -4.615384578704834, 1.9867550134658813 ]
3.3
66
0
66
0
[ 7.824175834655762, -100.43955993652344, 92.83516693115234, 61.05494689941406, -4.439560413360596, 1.4592933654785156 ]
[ 7.472527503967285, -100.17582702636719, 93.05494689941406, 62.021976470947266, -4.615384578704834, 1.9867550134658813 ]
3.35
67
0
67
0
[ 7.824175834655762, -100.43955993652344, 92.83516693115234, 61.05494689941406, -4.439560413360596, 1.4592933654785156 ]
[ 7.472527503967285, -100.17582702636719, 93.05494689941406, 62.021976470947266, -4.615384578704834, 1.9867550134658813 ]
3.4
68
0
68
0
[ 7.560439586639404, -100.43955993652344, 92.83516693115234, 61.05494689941406, -4.439560413360596, 1.4592933654785156 ]
[ 7.472527503967285, -100.17582702636719, 93.05494689941406, 62.021976470947266, -4.615384578704834, 1.9867550134658813 ]
3.45
69
0
69
0
[ 7.472527503967285, -100.43955993652344, 92.83516693115234, 61.05494689941406, -4.439560413360596, 1.4592933654785156 ]
[ 7.472527503967285, -100.17582702636719, 93.05494689941406, 62.021976470947266, -4.615384578704834, 1.9867550134658813 ]
3.5
70
0
70
0
[ 7.912087917327881, -100.52747344970703, 92.92308044433594, 60.96703338623047, -4.703296661376953, 1.4592933654785156 ]
[ 7.472527503967285, -100.17582702636719, 93.05494689941406, 62.021976470947266, -4.615384578704834, 1.9867550134658813 ]
3.55
71
0
71
0
[ 8, -100.52747344970703, 92.92308044433594, 60.879119873046875, -4.791208744049072, 1.4592933654785156 ]
[ 7.472527503967285, -100.17582702636719, 93.05494689941406, 62.021976470947266, -4.615384578704834, 1.9867550134658813 ]
3.6
72
0
72
0
[ 8, -100.52747344970703, 93.010986328125, 60.17582321166992, -4.791208744049072, 1.4592933654785156 ]
[ 7.560439586639404, -100.17582702636719, 93.05494689941406, 62.021976470947266, -4.615384578704834, 1.9867550134658813 ]
3.65
73
0
73
0
[ 8.175824165344238, -100.52747344970703, 93.45054626464844, 59.120880126953125, -4.527472496032715, 1.4592933654785156 ]
[ 7.560439586639404, -100.17582702636719, 93.05494689941406, 61.758243560791016, -4.615384578704834, 1.9867550134658813 ]
3.7
74
0
74
0
[ 9.230769157409668, -100.96703338623047, 93.89010620117188, 58.06593322753906, -4.527472496032715, 1.4592933654785156 ]
[ 7.560439586639404, -100.17582702636719, 93.67032623291016, 61.230770111083984, -4.615384578704834, 1.9867550134658813 ]
3.75
75
0
75
0
[ 10.373626708984375, -102.10989379882812, 94.5054931640625, 57.18681335449219, -4.791208744049072, 1.4592933654785156 ]
[ 8, -100.17582702636719, 94.19779968261719, 60.35165023803711, -4.615384578704834, 1.9867550134658813 ]
3.8
76
0
76
0
[ 10.813186645507812, -103.25274658203125, 95.03296661376953, 57.098899841308594, -4.791208744049072, 1.4592933654785156 ]
[ 8.879120826721191, -100.61538696289062, 94.63735961914062, 59.47252655029297, -4.615384578704834, 1.9867550134658813 ]
3.85
77
0
77
0
[ 10.813186645507812, -103.42857360839844, 95.03296661376953, 57.098899841308594, -4.791208744049072, 1.4592933654785156 ]
[ 9.84615421295166, -101.4945068359375, 95.16483306884766, 58.769229888916016, -4.615384578704834, 1.9867550134658813 ]
3.9
78
0
78
0
[ 11.076923370361328, -103.34066009521484, 95.12088012695312, 57.010990142822266, -4.879120826721191, 1.4592933654785156 ]
[ 10.197802543640137, -102.37362670898438, 95.34066009521484, 58.41758346557617, -4.615384578704834, 1.9867550134658813 ]
3.95
79
0
79
0
[ 11.164834976196289, -103.34066009521484, 95.12088012695312, 57.010990142822266, -4.879120826721191, 1.4592933654785156 ]
[ 10.461538314819336, -102.63735961914062, 95.34066009521484, 58.241756439208984, -4.615384578704834, 1.9867550134658813 ]
4
80
0
80
0
[ 11.252747535705566, -103.34066009521484, 95.12088012695312, 57.010990142822266, -4.879120826721191, 1.4592933654785156 ]
[ 10.725275039672852, -102.81318664550781, 95.34066009521484, 58.153846740722656, -4.615384578704834, 1.9867550134658813 ]
4.05
81
0
81
0
[ 11.340659141540527, -103.34066009521484, 95.12088012695312, 57.010990142822266, -4.879120826721191, 1.4592933654785156 ]
[ 10.637362480163574, -102.81318664550781, 95.34066009521484, 58.153846740722656, -4.615384578704834, 1.9867550134658813 ]
4.1
82
0
82
0
[ 11.868131637573242, -103.34066009521484, 95.12088012695312, 57.010990142822266, -4.879120826721191, 1.4592933654785156 ]
[ 10.813186645507812, -102.81318664550781, 95.34066009521484, 58.153846740722656, -4.615384578704834, 1.9867550134658813 ]
4.15
83
0
83
0
[ 13.01098918914795, -103.34066009521484, 95.12088012695312, 57.010990142822266, -4.879120826721191, 1.4592933654785156 ]
[ 11.076923370361328, -102.81318664550781, 95.34066009521484, 58.153846740722656, -4.615384578704834, 1.9867550134658813 ]
4.2
84
0
84
0
[ 13.802197456359863, -103.34066009521484, 95.12088012695312, 56.92307662963867, -4.879120826721191, 1.4592933654785156 ]
[ 11.692307472229004, -102.81318664550781, 95.34066009521484, 58.153846740722656, -4.615384578704834, 1.9867550134658813 ]
4.25
85
0
85
0
[ 14.065934181213379, -103.34066009521484, 95.12088012695312, 56.92307662963867, -4.879120826721191, 1.4592933654785156 ]
[ 12.571428298950195, -102.81318664550781, 95.34066009521484, 58.153846740722656, -4.615384578704834, 1.9867550134658813 ]
4.3
86
0
86
0
[ 14.065934181213379, -103.34066009521484, 95.12088012695312, 56.92307662963867, -4.879120826721191, 1.4592933654785156 ]
[ 13.186813354492188, -102.81318664550781, 95.34066009521484, 58.153846740722656, -4.615384578704834, 1.9867550134658813 ]
4.35
87
0
87
0
[ 14.505494117736816, -103.34066009521484, 95.12088012695312, 56.92307662963867, -4.879120826721191, 1.4592933654785156 ]
[ 13.538461685180664, -102.81318664550781, 95.34066009521484, 58.153846740722656, -4.615384578704834, 1.9867550134658813 ]
4.4
88
0
88
0
[ 15.120879173278809, -103.34066009521484, 95.12088012695312, 56.92307662963867, -4.879120826721191, 1.4592933654785156 ]
[ 13.714285850524902, -102.81318664550781, 95.34066009521484, 58.153846740722656, -4.615384578704834, 1.9867550134658813 ]
4.45
89
0
89
0
[ 15.648351669311523, -103.34066009521484, 95.12088012695312, 56.92307662963867, -4.879120826721191, 1.4592933654785156 ]
[ 14.241758346557617, -102.81318664550781, 95.34066009521484, 58.153846740722656, -4.615384578704834, 1.9867550134658813 ]
4.5
90
0
90
0
[ 16.175825119018555, -103.34066009521484, 95.12088012695312, 56.92307662963867, -4.879120826721191, 1.4592933654785156 ]
[ 14.769230842590332, -102.81318664550781, 95.34066009521484, 58.153846740722656, -4.615384578704834, 1.9867550134658813 ]
4.55
91
0
91
0
[ 16.879121780395508, -103.34066009521484, 95.12088012695312, 56.92307662963867, -4.879120826721191, 1.4592933654785156 ]
[ 15.296703338623047, -102.81318664550781, 95.34066009521484, 58.153846740722656, -4.615384578704834, 1.9867550134658813 ]
4.6
92
0
92
0
[ 17.318681716918945, -103.34066009521484, 95.12088012695312, 56.92307662963867, -4.879120826721191, 1.4592933654785156 ]
[ 15.824175834655762, -102.81318664550781, 95.34066009521484, 58.153846740722656, -4.615384578704834, 1.9867550134658813 ]
4.65
93
0
93
0
[ 17.406593322753906, -103.34066009521484, 95.12088012695312, 56.92307662963867, -4.879120826721191, 1.4592933654785156 ]
[ 16.52747344970703, -102.81318664550781, 95.34066009521484, 58.153846740722656, -4.615384578704834, 1.9867550134658813 ]
4.7
94
0
94
0
[ 17.406593322753906, -103.34066009521484, 95.12088012695312, 56.92307662963867, -4.879120826721191, 1.4592933654785156 ]
[ 16.791208267211914, -102.81318664550781, 95.34066009521484, 58.153846740722656, -4.615384578704834, 1.9867550134658813 ]
4.75
95
0
95
0
[ 17.406593322753906, -103.34066009521484, 95.12088012695312, 56.92307662963867, -4.879120826721191, 1.4592933654785156 ]
[ 16.96703338623047, -102.81318664550781, 95.34066009521484, 58.153846740722656, -4.615384578704834, 1.9867550134658813 ]
4.8
96
0
96
0
[ 17.406593322753906, -103.34066009521484, 95.12088012695312, 56.92307662963867, -4.879120826721191, 1.4592933654785156 ]
[ 17.14285659790039, -102.81318664550781, 95.34066009521484, 58.153846740722656, -4.615384578704834, 1.9867550134658813 ]
4.85
97
0
97
0
[ 17.406593322753906, -103.34066009521484, 95.20879364013672, 56.92307662963867, -4.879120826721191, 1.4592933654785156 ]
[ 17.05494499206543, -102.81318664550781, 95.34066009521484, 58.153846740722656, -4.615384578704834, 1.9867550134658813 ]
4.9
98
0
98
0
[ 17.406593322753906, -103.34066009521484, 95.20879364013672, 56.92307662963867, -4.879120826721191, 1.4592933654785156 ]
[ 17.14285659790039, -102.81318664550781, 95.34066009521484, 58.153846740722656, -4.615384578704834, 1.9867550134658813 ]
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": 13266,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:30"
    },
    "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": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
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        },
        "observation.images.rear_top": {
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            "names": [
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            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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                "video.fps": 20,
                "video.channels": 3,
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        "observation.images.right_side": {
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        "observation.images.wrist": {
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            "names": [
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                "channels"
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            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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        },
        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "task_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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