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Datasets:
L7-Robotics
/
so101_conveyor_static_center_redcube_whitebowl_v5

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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action
list
observation.state
list
timestamp
float32
0
20.3
frame_index
int64
0
406
episode_index
int64
0
29
index
int64
0
11k
task_index
int64
0
0
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2.65
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2.7
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[ -2.769230842590332, -103.51648712158203, 91.51648712158203, 71.64835357666016, -6.461538314819336, 1.492537260055542 ]
2.8
56
0
56
0
[ -2.0219781398773193, -103.12088012695312, 88.21977996826172, 71.78022003173828, -6.461538314819336, 1.0810810327529907 ]
[ -2.681318759918213, -103.6043930053711, 91.16483306884766, 71.73626708984375, -6.461538314819336, 1.492537260055542 ]
2.85
57
0
57
0
[ -2.0219781398773193, -102.68132019042969, 87.16483306884766, 71.78022003173828, -6.461538314819336, 1.0810810327529907 ]
[ -2.5054945945739746, -103.6043930053711, 90.989013671875, 71.73626708984375, -6.461538314819336, 1.492537260055542 ]
2.9
58
0
58
0
[ -2.1098902225494385, -101.010986328125, 85.4065933227539, 71.78022003173828, -6.461538314819336, 1.0810810327529907 ]
[ -2.5934066772460938, -103.6043930053711, 90.54945373535156, 71.73626708984375, -6.461538314819336, 1.492537260055542 ]
2.95
59
0
59
0
[ -2.1098902225494385, -98.28571319580078, 82.5934066772461, 71.78022003173828, -6.461538314819336, 1.0810810327529907 ]
[ -2.5934066772460938, -103.25274658203125, 89.67032623291016, 71.73626708984375, -6.461538314819336, 1.492537260055542 ]
3
60
0
60
0
[ -2.1978023052215576, -95.03296661376953, 79.25274658203125, 71.78022003173828, -6.461538314819336, 1.0810810327529907 ]
[ -2.5934066772460938, -102.19779968261719, 88.26373291015625, 71.73626708984375, -6.461538314819336, 1.492537260055542 ]
3.05
61
0
61
0
[ -2.1978023052215576, -91.51648712158203, 75.73626708984375, 71.78022003173828, -6.461538314819336, 1.0810810327529907 ]
[ -2.5934066772460938, -100.17582702636719, 85.97801971435547, 71.73626708984375, -6.461538314819336, 1.492537260055542 ]
3.1
62
0
62
0
[ -2.1978023052215576, -87.73626708984375, 72.21977996826172, 71.78022003173828, -6.461538314819336, 1.0810810327529907 ]
[ -2.5934066772460938, -97.36264038085938, 82.989013671875, 71.73626708984375, -6.461538314819336, 1.492537260055542 ]
3.15
63
0
63
0
[ -2.1978023052215576, -84.13186645507812, 68.96703338623047, 71.95604705810547, -6.461538314819336, 1.0810810327529907 ]
[ -2.5934066772460938, -94.28571319580078, 79.73626708984375, 71.73626708984375, -6.461538314819336, 1.492537260055542 ]
3.2
64
0
64
0
[ -2.1978023052215576, -80.35164642333984, 65.53845977783203, 72.21977996826172, -6.461538314819336, 1.0810810327529907 ]
[ -2.5934066772460938, -90.85713958740234, 76.48351287841797, 71.73626708984375, -6.461538314819336, 1.492537260055542 ]
3.25
65
0
65
0
[ -2.1098902225494385, -76.74725341796875, 62.28571319580078, 72.30769348144531, -6.461538314819336, 1.0810810327529907 ]
[ -2.5934066772460938, -87.25274658203125, 73.23076629638672, 71.73626708984375, -6.461538314819336, 1.492537260055542 ]
3.3
66
0
66
0
[ -2.1098902225494385, -73.23076629638672, 59.20878982543945, 72.57142639160156, -6.461538314819336, 1.0810810327529907 ]
[ -2.5934066772460938, -83.47252655029297, 69.80220031738281, 71.73626708984375, -6.461538314819336, 1.492537260055542 ]
3.35
67
0
67
0
[ -2.1098902225494385, -69.71428680419922, 55.69230651855469, 73.89010620117188, -6.461538314819336, 1.0810810327529907 ]
[ -2.5934066772460938, -79.86813354492188, 66.54945373535156, 71.9120864868164, -6.461538314819336, 1.492537260055542 ]
3.4
68
0
68
0
[ -2.1098902225494385, -66.54945373535156, 51.912086486816406, 75.73626708984375, -6.461538314819336, 1.0810810327529907 ]
[ -2.5934066772460938, -76.17582702636719, 63.29670333862305, 72.35164642333984, -6.461538314819336, 1.492537260055542 ]
3.45
69
0
69
0
[ -2.1098902225494385, -63.38461685180664, 48.131866455078125, 77.75823974609375, -6.725274562835693, 1.0810810327529907 ]
[ -2.5934066772460938, -72.48351287841797, 59.9560432434082, 73.4065933227539, -6.461538314819336, 1.492537260055542 ]
3.5
70
0
70
0
[ -2.1098902225494385, -60.92307662963867, 44.43955993652344, 79.86813354492188, -6.725274562835693, 1.0810810327529907 ]
[ -2.5934066772460938, -69.14286041259766, 56.35165023803711, 74.81318664550781, -6.461538314819336, 1.492537260055542 ]
3.55
71
0
71
0
[ -2.1098902225494385, -58.5494499206543, 40.74725341796875, 81.80220031738281, -6.8131866455078125, 1.0810810327529907 ]
[ -2.5934066772460938, -65.71428680419922, 52.74725341796875, 76.57142639160156, -6.461538314819336, 1.492537260055542 ]
3.6
72
0
72
0
[ -2.1098902225494385, -56.263736724853516, 37.05494689941406, 83.73626708984375, -6.8131866455078125, 1.0810810327529907 ]
[ -2.5934066772460938, -62.989009857177734, 49.05494689941406, 78.5054931640625, -6.461538314819336, 1.492537260055542 ]
3.65
73
0
73
0
[ -2.1098902225494385, -53.978023529052734, 33.4505500793457, 85.5824203491211, -6.901098728179932, 1.0810810327529907 ]
[ -2.5934066772460938, -60.43955993652344, 45.36263656616211, 80.43955993652344, -6.461538314819336, 1.492537260055542 ]
3.7
74
0
74
0
[ -2.1098902225494385, -51.340660095214844, 29.58241844177246, 87.34066009521484, -6.901098728179932, 1.0810810327529907 ]
[ -2.5934066772460938, -57.978023529052734, 41.4945068359375, 82.19779968261719, -6.461538314819336, 1.492537260055542 ]
3.75
75
0
75
0
[ -2.0219781398773193, -48.263736724853516, 25.80219841003418, 89.0988998413086, -6.901098728179932, 1.0810810327529907 ]
[ -2.5934066772460938, -55.60439682006836, 37.80219650268555, 84.21977996826172, -6.461538314819336, 1.492537260055542 ]
3.8
76
0
76
0
[ -2.0219781398773193, -44.83516311645508, 21.758241653442383, 91.20879364013672, -6.901098728179932, 1.0810810327529907 ]
[ -2.5934066772460938, -53.05494689941406, 34.021976470947266, 85.97801971435547, -6.461538314819336, 1.492537260055542 ]
3.85
77
0
77
0
[ -2.1098902225494385, -41.4945068359375, 17.89011001586914, 93.31867980957031, -6.901098728179932, 1.0810810327529907 ]
[ -2.5934066772460938, -50.32966995239258, 30.329669952392578, 87.82417297363281, -6.461538314819336, 1.492537260055542 ]
3.9
78
0
78
0
[ -2.1098902225494385, -37.80219650268555, 14.10988998413086, 94.989013671875, -6.901098728179932, 1.0810810327529907 ]
[ -2.5934066772460938, -46.989009857177734, 26.285715103149414, 89.75823974609375, -6.461538314819336, 1.492537260055542 ]
3.95
79
0
79
0
[ -2.1098902225494385, -34.28571319580078, 10.241758346557617, 96.3956069946289, -6.725274562835693, 1.0810810327529907 ]
[ -2.5934066772460938, -43.64834976196289, 22.329669952392578, 91.78022003173828, -6.461538314819336, 1.492537260055542 ]
4
80
0
80
0
[ -2.0219781398773193, -30.85714340209961, 6.8131866455078125, 97.62637329101562, -6.637362480163574, 1.0810810327529907 ]
[ -2.5934066772460938, -40.131866455078125, 18.461538314819336, 93.45054626464844, -6.461538314819336, 1.492537260055542 ]
4.05
81
0
81
0
[ -1.3186813592910767, -27.604394912719727, 3.5604395866394043, 99.29669952392578, -6.637362480163574, 1.0810810327529907 ]
[ -2.5934066772460938, -36.52747344970703, 14.681318283081055, 95.03296661376953, -6.461538314819336, 1.492537260055542 ]
4.1
82
0
82
0
[ -0.35164836049079895, -25.14285659790039, 0.48351648449897766, 100.0879135131836, -6.549450397491455, 1.0810810327529907 ]
[ -2.5054945945739746, -32.83516311645508, 11.076923370361328, 96.26373291015625, -6.461538314819336, 1.492537260055542 ]
4.15
83
0
83
0
[ 1.2307692766189575, -22.769229888916016, -2.769230842590332, 100.26373291015625, -6.549450397491455, 1.0810810327529907 ]
[ -1.9780219793319702, -29.14285659790039, 7.648351669311523, 97.93406677246094, -6.461538314819336, 1.492537260055542 ]
4.2
84
0
84
0
[ 2.7252748012542725, -20.83516502380371, -5.494505405426025, 100.52747344970703, -6.549450397491455, 1.0810810327529907 ]
[ -1.274725317955017, -26.065933227539062, 4.483516693115234, 98.63735961914062, -6.461538314819336, 1.492537260055542 ]
4.25
85
0
85
0
[ 4.483516693115234, -19.428571701049805, -7.868131637573242, 100.61538696289062, -6.549450397491455, 1.0810810327529907 ]
[ -0.04395604506134987, -23.340660095214844, 1.2307692766189575, 99.07691955566406, -6.461538314819336, 1.492537260055542 ]
4.3
86
0
86
0
[ 6.153846263885498, -18.461538314819336, -9.626373291015625, 100.61538696289062, -6.549450397491455, 1.0810810327529907 ]
[ 1.186813235282898, -21.05494499206543, -1.582417607307434, 99.42857360839844, -6.461538314819336, 1.492537260055542 ]
4.35
87
0
87
0
[ 7.0329670906066895, -17.494504928588867, -11.120879173278809, 100.35164642333984, -6.549450397491455, 1.0810810327529907 ]
[ 2.857142925262451, -19.384614944458008, -4.219780445098877, 99.6043930053711, -6.461538314819336, 1.492537260055542 ]
4.4
88
0
88
0
[ 7.560439586639404, -16.703296661376953, -12.527472496032715, 100.26373291015625, -6.549450397491455, 1.0810810327529907 ]
[ 4.439560413360596, -17.9780216217041, -6.241758346557617, 99.69230651855469, -6.461538314819336, 1.492537260055542 ]
4.45
89
0
89
0
[ 7.912087917327881, -15.648351669311523, -13.934065818786621, 100.26373291015625, -6.549450397491455, 1.0810810327529907 ]
[ 5.670329570770264, -17.098901748657227, -8, 99.69230651855469, -6.461538314819336, 1.492537260055542 ]
4.5
90
0
90
0
[ 8.527472496032715, -14.15384578704834, -15.252747535705566, 100.43955993652344, -6.549450397491455, 1.0810810327529907 ]
[ 6.461538314819336, -16.131868362426758, -9.494505882263184, 99.69230651855469, -6.461538314819336, 1.492537260055542 ]
4.55
91
0
91
0
[ 9.230769157409668, -12.571428298950195, -16.483516693115234, 100.52747344970703, -6.549450397491455, 1.0810810327529907 ]
[ 7.07692289352417, -15.252747535705566, -11.076923370361328, 99.69230651855469, -6.461538314819336, 1.492537260055542 ]
4.6
92
0
92
0
[ 10.021978378295898, -10.98901081085205, -17.626373291015625, 100.52747344970703, -6.549450397491455, 1.0810810327529907 ]
[ 7.604395389556885, -14.021978378295898, -12.571428298950195, 99.69230651855469, -6.461538314819336, 1.492537260055542 ]
4.65
93
0
93
0
[ 10.725275039672852, -9.406593322753906, -18.85714340209961, 100.52747344970703, -6.549450397491455, 1.1583011150360107 ]
[ 8.395604133605957, -12.439560890197754, -13.802197456359863, 99.69230651855469, -6.461538314819336, 1.492537260055542 ]
4.7
94
0
94
0
[ 11.516483306884766, -7.736263751983643, -19.824174880981445, 100.61538696289062, -6.461538314819336, 1.1583011150360107 ]
[ 9.09890079498291, -10.681318283081055, -15.032966613769531, 99.69230651855469, -6.461538314819336, 1.492537260055542 ]
4.75
95
0
95
0
[ 12.219779968261719, -6.153846263885498, -20.615385055541992, 100.61538696289062, -6.461538314819336, 1.3899613618850708 ]
[ 9.802197456359863, -9.01098918914795, -16.175825119018555, 99.69230651855469, -6.461538314819336, 1.492537260055542 ]
4.8
96
0
96
0
[ 12.923076629638672, -4.5714287757873535, -21.318681716918945, 100.61538696289062, -6.461538314819336, 3.3976833820343018 ]
[ 10.593406677246094, -7.252747058868408, -17.230770111083984, 99.78022003173828, -6.461538314819336, 1.492537260055542 ]
4.85
97
0
97
0
[ 13.450549125671387, -3.2527472972869873, -21.846153259277344, 100.61538696289062, -6.461538314819336, 6.409266471862793 ]
[ 11.384614944458008, -5.5824174880981445, -18.0219783782959, 99.86813354492188, -6.461538314819336, 1.5574302673339844 ]
4.9
98
0
98
0
[ 13.978021621704102, -2.0219781398773193, -22.461538314819336, 100.61538696289062, -6.461538314819336, 9.498069763183594 ]
[ 12, -4, -18.813186645507812, 99.86813354492188, -6.461538314819336, 2.5308241844177246 ]
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": 10993,
    "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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            "shape": [
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            "names": [
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            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
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        "observation.images.right_side": {
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            "names": [
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            "info": {
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                "video.is_depth_map": false,
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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",
                "video.is_depth_map": false,
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                "video.channels": 3,
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        },
        "timestamp": {
            "dtype": "float32",
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                1
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        }
    }
}

Citation

BibTeX:

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Downloads last month
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License:
apache-2.0
Number of rows:
10,993
Total file size:
443 MB