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Datasets:
ProxyCausal
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pick_and_place_SO101

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
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Dask
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action
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observation.state
list
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float32
0
18.3
frame_index
int64
0
550
episode_index
int64
0
11
index
int64
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5.42k
task_index
int64
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[ -1.7850059270858765, -90.65505981445312, 100, 19.875776290893555, -2.9548230171203613, 44.12568283081055 ]
2.1
63
0
63
0
[ -1.4809041023254395, -90.5398941040039, 100, 18.893211364746094, -3.0841610431671143, 44.518829345703125 ]
[ -1.7850059270858765, -90.65505981445312, 100, 19.875776290893555, -2.9548230171203613, 44.12568283081055 ]
2.133333
64
0
64
0
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[ -1.7850059270858765, -90.65505981445312, 100, 19.875776290893555, -2.9548230171203613, 44.12568283081055 ]
2.166667
65
0
65
0
[ -1.4809041023254395, -90.5398941040039, 100, 18.893211364746094, -3.0318870544433594, 44.518829345703125 ]
[ -1.7850059270858765, -90.65505981445312, 100, 19.875776290893555, -2.9548230171203613, 44.12568283081055 ]
2.2
66
0
66
0
[ -1.4809041023254395, -90.5398941040039, 100, 18.893211364746094, -3.0841610431671143, 44.518829345703125 ]
[ -1.7850059270858765, -90.65505981445312, 100, 19.875776290893555, -2.9548230171203613, 44.12568283081055 ]
2.233333
67
0
67
0
[ -1.4809041023254395, -90.5398941040039, 100, 18.893211364746094, -3.0318870544433594, 44.518829345703125 ]
[ -1.7850059270858765, -90.65505981445312, 100, 19.875776290893555, -2.9548230171203613, 44.12568283081055 ]
2.266667
68
0
68
0
[ -1.4809041023254395, -90.5398941040039, 100, 18.893211364746094, -3.0318870544433594, 44.43514633178711 ]
[ -1.7850059270858765, -90.65505981445312, 100, 19.875776290893555, -2.9548230171203613, 44.12568283081055 ]
2.3
69
0
69
0
[ -1.4809041023254395, -90.5398941040039, 100, 18.893211364746094, -3.0318870544433594, 44.43514633178711 ]
[ -1.7850059270858765, -90.65505981445312, 100, 19.875776290893555, -2.9548230171203613, 44.12568283081055 ]
2.333333
70
0
70
0
[ -1.4809041023254395, -90.5398941040039, 100, 18.893211364746094, -3.0318870544433594, 44.43514633178711 ]
[ -1.7850059270858765, -90.65505981445312, 100, 19.875776290893555, -2.9548230171203613, 44.12568283081055 ]
2.366667
71
0
71
0
[ -1.4809041023254395, -90.5398941040039, 100, 18.893211364746094, -3.0318870544433594, 44.43514633178711 ]
[ -1.7850059270858765, -90.65505981445312, 100, 19.875776290893555, -2.9548230171203613, 44.12568283081055 ]
2.4
72
0
72
0
[ -1.4809041023254395, -90.5398941040039, 100, 18.893211364746094, -3.0318870544433594, 44.43514633178711 ]
[ -1.7850059270858765, -90.65505981445312, 100, 19.875776290893555, -2.9548230171203613, 44.12568283081055 ]
2.433333
73
0
73
0
[ -1.4809041023254395, -90.5398941040039, 100, 18.893211364746094, -3.0841610431671143, 44.43514633178711 ]
[ -1.7850059270858765, -90.65505981445312, 100, 19.875776290893555, -2.9548230171203613, 44.12568283081055 ]
2.466667
74
0
74
0
[ -1.4809041023254395, -90.5398941040039, 100, 18.893211364746094, -3.0841610431671143, 44.43514633178711 ]
[ -1.7850059270858765, -90.65505981445312, 100, 19.875776290893555, -2.9548230171203613, 44.12568283081055 ]
2.5
75
0
75
0
[ -1.4809041023254395, -90.5398941040039, 100, 18.893211364746094, -3.0841610431671143, 44.43514633178711 ]
[ -1.7850059270858765, -90.65505981445312, 100, 19.875776290893555, -2.9548230171203613, 44.12568283081055 ]
2.533333
76
0
76
0
[ -1.4809041023254395, -90.5398941040039, 100, 18.893211364746094, -3.0841610431671143, 44.43514633178711 ]
[ -1.7850059270858765, -90.65505981445312, 100, 19.875776290893555, -2.9548230171203613, 44.12568283081055 ]
2.566667
77
0
77
0
[ -1.4809041023254395, -90.5398941040039, 100, 18.893211364746094, -3.0841610431671143, 44.43514633178711 ]
[ -1.7850059270858765, -90.65505981445312, 100, 19.875776290893555, -2.9548230171203613, 44.12568283081055 ]
2.6
78
0
78
0
[ -1.4809041023254395, -90.5398941040039, 100, 18.893211364746094, -3.0841610431671143, 44.43514633178711 ]
[ -1.7850059270858765, -90.65505981445312, 100, 19.875776290893555, -2.9548230171203613, 44.12568283081055 ]
2.633333
79
0
79
0
[ -1.4809041023254395, -90.5398941040039, 100, 18.893211364746094, -3.0841610431671143, 44.43514633178711 ]
[ -1.7850059270858765, -90.65505981445312, 100, 19.875776290893555, -2.9548230171203613, 44.12568283081055 ]
2.666667
80
0
80
0
[ -1.4809041023254395, -90.5398941040039, 100, 18.893211364746094, -3.0841610431671143, 44.43514633178711 ]
[ -1.7850059270858765, -90.65505981445312, 100, 19.875776290893555, -2.9548230171203613, 44.12568283081055 ]
2.7
81
0
81
0
[ -1.4809041023254395, -90.5398941040039, 100, 18.893211364746094, -3.136435031890869, 44.43514633178711 ]
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2.733333
82
0
82
0
[ -1.4029618501663208, -90.5398941040039, 100, 18.893211364746094, -3.136435031890869, 44.43514633178711 ]
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2.766667
83
0
83
0
[ -1.4029618501663208, -90.5398941040039, 100, 18.893211364746094, -3.136435031890869, 44.43514633178711 ]
[ -1.7850059270858765, -90.65505981445312, 100, 19.875776290893555, -2.9548230171203613, 44.12568283081055 ]
2.8
84
0
84
0
[ -1.4029618501663208, -90.5398941040039, 100, 18.893211364746094, -3.136435031890869, 44.43514633178711 ]
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2.833333
85
0
85
0
[ -1.4029618501663208, -90.5398941040039, 100, 18.893211364746094, -3.136435031890869, 44.43514633178711 ]
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2.866667
86
0
86
0
[ -1.4029618501663208, -90.5398941040039, 100, 18.893211364746094, -3.136435031890869, 44.43514633178711 ]
[ -1.7850059270858765, -90.65505981445312, 100, 19.875776290893555, -2.9548230171203613, 44.12568283081055 ]
2.9
87
0
87
0
[ -1.4029618501663208, -90.5398941040039, 100, 18.893211364746094, -3.136435031890869, 44.43514633178711 ]
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2.933333
88
0
88
0
[ -1.4029618501663208, -90.5398941040039, 100, 18.893211364746094, -3.136435031890869, 44.43514633178711 ]
[ -1.7850059270858765, -90.65505981445312, 100, 19.875776290893555, -2.9548230171203613, 44.12568283081055 ]
2.966667
89
0
89
0
[ -1.4029618501663208, -90.5398941040039, 100, 18.893211364746094, -3.136435031890869, 44.43514633178711 ]
[ -1.7850059270858765, -90.65505981445312, 100, 19.875776290893555, -2.9548230171203613, 44.12568283081055 ]
3
90
0
90
0
[ -1.4029618501663208, -90.5398941040039, 100, 18.893211364746094, -3.136435031890869, 44.43514633178711 ]
[ -1.7850059270858765, -90.65505981445312, 100, 19.875776290893555, -2.9548230171203613, 44.12568283081055 ]
3.033333
91
0
91
0
[ -1.4029618501663208, -90.5398941040039, 100, 18.893211364746094, -3.136435031890869, 44.43514633178711 ]
[ -1.7850059270858765, -90.65505981445312, 100, 19.875776290893555, -2.9548230171203613, 44.12568283081055 ]
3.066667
92
0
92
0
[ -1.4029618501663208, -90.5398941040039, 100, 18.893211364746094, -3.136435031890869, 44.43514633178711 ]
[ -1.7850059270858765, -90.65505981445312, 100, 19.875776290893555, -2.9548230171203613, 44.12568283081055 ]
3.1
93
0
93
0
[ -1.4029618501663208, -90.5398941040039, 100, 18.893211364746094, -3.136435031890869, 44.43514633178711 ]
[ -1.7850059270858765, -90.65505981445312, 100, 19.875776290893555, -2.9548230171203613, 44.12568283081055 ]
3.133333
94
0
94
0
[ -1.4029618501663208, -90.5398941040039, 100, 18.893211364746094, -3.136435031890869, 44.43514633178711 ]
[ -1.7850059270858765, -90.65505981445312, 100, 19.875776290893555, -2.9548230171203613, 44.12568283081055 ]
3.166667
95
0
95
0
[ -1.4029618501663208, -90.5398941040039, 100, 18.893211364746094, -3.136435031890869, 44.43514633178711 ]
[ -1.7850059270858765, -90.65505981445312, 100, 19.875776290893555, -2.9548230171203613, 44.12568283081055 ]
3.2
96
0
96
0
[ -1.4029618501663208, -90.5398941040039, 100, 18.893211364746094, -3.136435031890869, 44.43514633178711 ]
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3.233333
97
0
97
0
[ -1.4029618501663208, -90.5398941040039, 100, 18.893211364746094, -3.136435031890869, 44.43514633178711 ]
[ -1.7850059270858765, -90.65505981445312, 100, 19.875776290893555, -2.9548230171203613, 44.12568283081055 ]
3.266667
98
0
98
0
[ -1.4029618501663208, -90.5398941040039, 100, 18.893211364746094, -3.136435031890869, 44.43514633178711 ]
[ -1.7850059270858765, -90.65505981445312, 100, 19.875776290893555, -2.9548230171203613, 44.12568283081055 ]
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": "v3.0",
    "robot_type": "so101_follower",
    "total_episodes": 12,
    "total_frames": 5424,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:12"
    },
    "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": [
                6
            ]
        },
        "observation.images.front": {
            "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": [
                1
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            "names": null
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        "index": {
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            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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