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Datasets:
RajatDandekar
/
so101_whiteboard_wipe

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
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Dask
Polars
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float32
0
64
frame_index
int64
0
640
episode_index
int64
0
9
index
int64
0
4.91k
task_index
int64
0
0
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0.2
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1.1
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1.3
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1.4
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1.5
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1.6
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1.7
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1.8
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1.9
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2
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2.1
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2.2
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2.3
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2.4
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2.5
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2.7
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2.8
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2.9
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3
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3.1
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3.2
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3.3
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3.4
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3.5
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3.6
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3.7
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3.8
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3.9
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4
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4.1
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4.2
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4.3
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4.4
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4.5
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4.6
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4.7
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4.8
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4.9
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5
50
0
50
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5.1
51
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51
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5.2
52
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5.3
53
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53
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5.4
54
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54
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5.5
55
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55
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5.6
56
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56
0
[ 43.868133544921875, 16.439559936523438, -25.14285659790039, 100.65933990478516, -8.395604133605957, 34.89878463745117 ]
[ 44.57143020629883, 19.91208839416504, -25.098901748657227, 76.96703338623047, -8.04395580291748, 4.651162624359131 ]
5.7
57
0
57
0
[ 42.901100158691406, 16.615385055541992, -24.351648330688477, 101.89010620117188, -8.219779968261719, 62.105262756347656 ]
[ 44.39560317993164, 19.91208839416504, -25.098901748657227, 76.96703338623047, -8.04395580291748, 14.77428150177002 ]
5.8
58
0
58
0
[ 42.373626708984375, 16.791208267211914, -22.153846740722656, 101.27472686767578, -8.307692527770996, 86.8825912475586 ]
[ 43.516483306884766, 19.91208839416504, -24.483516693115234, 76.96703338623047, -8.04395580291748, 26.196990966796875 ]
5.9
59
0
59
0
[ 42.373626708984375, 17.846153259277344, -20.923076629638672, 101.27472686767578, -8.307692527770996, 96.84210205078125 ]
[ 42.63736343383789, 19.91208839416504, -22.63736343383789, 76.96703338623047, -8.04395580291748, 37.89329528808594 ]
6
60
0
60
0
[ 42.373626708984375, 19.956043243408203, -21.450550079345703, 101.0988998413086, -8.131868362426758, 92.87449645996094 ]
[ 42.81318664550781, 19.91208839416504, -21.05494499206543, 76.96703338623047, -8.04395580291748, 49.384403228759766 ]
6.1
61
0
61
0
[ 42.373626708984375, 21.36263656616211, -21.80219841003418, 98.989013671875, -8.219779968261719, 92.63157653808594 ]
[ 42.72527313232422, 20.52747344970703, -21.14285659790039, 76.96703338623047, -8.04395580291748, 61.01231002807617 ]
6.2
62
0
62
0
[ 42.72527313232422, 22.769229888916016, -21.80219841003418, 96, -8.307692527770996, 92.7125473022461 ]
[ 42.5494499206543, 21.670330047607422, -21.14285659790039, 76.96703338623047, -8.04395580291748, 72.43502044677734 ]
6.3
63
0
63
0
[ 42.989009857177734, 24.879121780395508, -21.80219841003418, 92.83516693115234, -8.307692527770996, 92.7125473022461 ]
[ 42.63736343383789, 22.813186645507812, -21.14285659790039, 76.96703338623047, -8.04395580291748, 83.9945297241211 ]
6.4
64
0
64
0
[ 43.07692337036133, 26.901098251342773, -21.89011001586914, 89.84615325927734, -8.307692527770996, 92.7125473022461 ]
[ 42.72527313232422, 24.83516502380371, -21.14285659790039, 76.96703338623047, -8.04395580291748, 90.15048217773438 ]
6.5
65
0
65
0
[ 43.07692337036133, 28.395605087280273, -21.89011001586914, 87.20879364013672, -8.395604133605957, 92.7125473022461 ]
[ 42.63736343383789, 26.94505500793457, -21.14285659790039, 76.96703338623047, -8.04395580291748, 91.86046600341797 ]
6.6
66
0
66
0
[ 42.901100158691406, 29.450550079345703, -21.89011001586914, 85.18681335449219, -8.395604133605957, 92.7125473022461 ]
[ 42.63736343383789, 28.703296661376953, -21.14285659790039, 76.96703338623047, -8.04395580291748, 92.33926391601562 ]
6.7
67
0
67
0
[ 42.5494499206543, 30.505495071411133, -21.89011001586914, 83.16483306884766, -9.714285850524902, 92.7125473022461 ]
[ 42.72527313232422, 29.58241844177246, -21.14285659790039, 76.96703338623047, -8.04395580291748, 92.33926391601562 ]
6.8
68
0
68
0
[ 42.28571319580078, 31.208791732788086, -21.89011001586914, 81.4065933227539, -9.89011001586914, 92.7125473022461 ]
[ 42.5494499206543, 30.813186645507812, -21.14285659790039, 76.96703338623047, -9.09890079498291, 92.33926391601562 ]
6.9
69
0
69
0
[ 41.67033004760742, 31.47252655029297, -21.89011001586914, 80.0879135131836, -9.89011001586914, 92.7125473022461 ]
[ 42.81318664550781, 31.516483306884766, -21.14285659790039, 76.96703338623047, -9.450549125671387, 92.33926391601562 ]
7
70
0
70
0
[ 40.96703338623047, 32, -21.89011001586914, 78.24176025390625, -9.89011001586914, 92.7125473022461 ]
[ 42.373626708984375, 31.956043243408203, -21.14285659790039, 76.96703338623047, -9.626373291015625, 92.33926391601562 ]
7.1
71
0
71
0
[ 40.70329666137695, 32.79121017456055, -21.89011001586914, 75.86813354492188, -9.978021621704102, 92.7125473022461 ]
[ 41.406593322753906, 32.39560317993164, -21.14285659790039, 76.96703338623047, -9.626373291015625, 92.33926391601562 ]
7.2
72
0
72
0
[ 40.087913513183594, 33.230770111083984, -21.89011001586914, 72.96703338623047, -9.978021621704102, 92.7125473022461 ]
[ 41.05494689941406, 33.18681335449219, -21.14285659790039, 76.35164642333984, -9.626373291015625, 92.33926391601562 ]
7.3
73
0
73
0
[ 39.82417678833008, 33.58241653442383, -21.89011001586914, 70.68132019042969, -9.978021621704102, 92.7125473022461 ]
[ 40.79121017456055, 33.80219650268555, -21.14285659790039, 74.4175796508789, -9.626373291015625, 92.33926391601562 ]
7.4
74
0
74
0
[ 39.82417678833008, 33.67033004760742, -21.89011001586914, 69.18681335449219, -9.978021621704102, 92.7125473022461 ]
[ 40.17582321166992, 34.153846740722656, -21.14285659790039, 72.13186645507812, -9.626373291015625, 92.33926391601562 ]
7.5
75
0
75
0
[ 40, 33.846153259277344, -22.329669952392578, 68.65933990478516, -9.978021621704102, 92.7125473022461 ]
[ 39.912086486816406, 34.241756439208984, -21.05494499206543, 70.37362670898438, -9.626373291015625, 92.33926391601562 ]
7.6
76
0
76
0
[ 40.17582321166992, 33.93406677246094, -23.824174880981445, 69.0988998413086, -9.978021621704102, 92.7125473022461 ]
[ 40.087913513183594, 34.241756439208984, -21.05494499206543, 69.4945068359375, -9.626373291015625, 92.33926391601562 ]
7.7
77
0
77
0
[ 40.35165023803711, 33.93406677246094, -24.615385055541992, 68.74725341796875, -9.978021621704102, 92.7125473022461 ]
[ 40.087913513183594, 34.241756439208984, -21.318681716918945, 69.4065933227539, -9.626373291015625, 92.33926391601562 ]
7.8
78
0
78
0
[ 40.35165023803711, 34.021976470947266, -25.230770111083984, 68.65933990478516, -9.978021621704102, 92.7125473022461 ]
[ 40, 34.241756439208984, -21.494504928588867, 69.31867980957031, -9.626373291015625, 92.33926391601562 ]
7.9
79
0
79
0
[ 40.35165023803711, 34.021976470947266, -26.285715103149414, 68.65933990478516, -10.065934181213379, 92.7125473022461 ]
[ 40, 34.32966995239258, -22.0219783782959, 69.31867980957031, -9.626373291015625, 92.33926391601562 ]
8
80
0
80
0
[ 40.35165023803711, 34.10988998413086, -27.78022003173828, 68.65933990478516, -10.065934181213379, 92.7125473022461 ]
[ 40, 34.32966995239258, -22.901098251342773, 69.31867980957031, -9.626373291015625, 92.33926391601562 ]
8.1
81
0
81
0
[ 40.17582321166992, 35.42856979370117, -30.065933227539062, 68.65933990478516, -10.065934181213379, 92.7125473022461 ]
[ 40, 34.32966995239258, -24.21977996826172, 69.31867980957031, -9.626373291015625, 92.33926391601562 ]
8.2
82
0
82
0
[ 40.35165023803711, 38.85714340209961, -34.5494499206543, 68.65933990478516, -10.065934181213379, 92.7125473022461 ]
[ 39.912086486816406, 35.736263275146484, -26.505495071411133, 69.31867980957031, -9.626373291015625, 92.33926391601562 ]
8.3
83
0
83
0
[ 40.70329666137695, 42.10988998413086, -39.736263275146484, 68.74725341796875, -10.065934181213379, 92.7125473022461 ]
[ 40.17582321166992, 38.5494499206543, -29.58241844177246, 69.31867980957031, -9.626373291015625, 92.33926391601562 ]
8.4
84
0
84
0
[ 41.58241653442383, 45.53845977783203, -44.21977996826172, 68.83516693115234, -10.065934181213379, 92.7125473022461 ]
[ 40.17582321166992, 41.626373291015625, -33.80219650268555, 69.31867980957031, -9.626373291015625, 92.33926391601562 ]
8.5
85
0
85
0
[ 42.373626708984375, 48.79121017456055, -48.43955993652344, 69.0988998413086, -10.065934181213379, 92.7125473022461 ]
[ 40.79121017456055, 44.879119873046875, -38.81318664550781, 69.31867980957031, -9.626373291015625, 92.33926391601562 ]
8.6
86
0
86
0
[ 43.516483306884766, 51.60439682006836, -51.868133544921875, 69.71428680419922, -10.065934181213379, 92.7125473022461 ]
[ 41.67033004760742, 48.483516693115234, -43.120880126953125, 69.4065933227539, -9.626373291015625, 92.33926391601562 ]
8.7
87
0
87
0
[ 43.9560432434082, 53.978023529052734, -56.43955993652344, 72.70330047607422, -10.065934181213379, 92.7125473022461 ]
[ 42.46154022216797, 51.47252655029297, -46.989009857177734, 69.5824203491211, -9.626373291015625, 92.33926391601562 ]
8.8
88
0
88
0
[ 44.659339904785156, 56.43955993652344, -61.27472686767578, 75.42857360839844, -10.065934181213379, 92.7125473022461 ]
[ 43.25274658203125, 54.10988998413086, -51.03296661376953, 71.6043930053711, -9.626373291015625, 92.33926391601562 ]
8.9
89
0
89
0
[ 44.92307662963867, 58.63736343383789, -66.19779968261719, 78.85713958740234, -10.065934181213379, 92.7125473022461 ]
[ 43.78022003173828, 56.659339904785156, -55.60439682006836, 74.15384674072266, -9.626373291015625, 92.33926391601562 ]
9
90
0
90
0
[ 45.010990142822266, 60.483516693115234, -70.85713958740234, 82.9011001586914, -10.065934181213379, 92.7125473022461 ]
[ 44.131866455078125, 59.03296661376953, -60.43955993652344, 76.35164642333984, -9.626373291015625, 92.33926391601562 ]
9.1
91
0
91
0
[ 44.83516311645508, 61.80219650268555, -74.63735961914062, 86.4175796508789, -10.065934181213379, 92.7125473022461 ]
[ 44.39560317993164, 60.96703338623047, -65.0988998413086, 76.79120635986328, -9.626373291015625, 92.33926391601562 ]
9.2
92
0
92
0
[ 44.483516693115234, 62.593406677246094, -77.53845977783203, 89.4945068359375, -10.065934181213379, 92.7125473022461 ]
[ 44.30769348144531, 62.373626708984375, -69.4945068359375, 76.87911987304688, -9.626373291015625, 92.33926391601562 ]
9.3
93
0
93
0
[ 44.39560317993164, 62.68132019042969, -79.03296661376953, 91.42857360839844, -10.065934181213379, 92.7125473022461 ]
[ 44.21977996826172, 63.42856979370117, -73.0988998413086, 77.05494689941406, -9.626373291015625, 92.33926391601562 ]
9.4
94
0
94
0
[ 45.010990142822266, 62.593406677246094, -80, 92.83516693115234, -10.065934181213379, 92.7125473022461 ]
[ 44.21977996826172, 63.42856979370117, -75.20879364013672, 77.05494689941406, -9.626373291015625, 92.33926391601562 ]
9.5
95
0
95
0
[ 45.89011001586914, 62.41758346557617, -80.52747344970703, 94.15384674072266, -9.978021621704102, 92.7125473022461 ]
[ 44.30769348144531, 63.340660095214844, -76.70330047607422, 77.05494689941406, -9.626373291015625, 92.33926391601562 ]
9.6
96
0
96
0
[ 47.64834976196289, 62.41758346557617, -80.79120635986328, 95.56044006347656, -9.802197456359863, 92.7125473022461 ]
[ 45.010990142822266, 63.42856979370117, -77.23076629638672, 77.05494689941406, -9.626373291015625, 92.33926391601562 ]
9.7
97
0
97
0
[ 49.406593322753906, 62.32966995239258, -80.79120635986328, 97.31867980957031, -9.538461685180664, 92.7125473022461 ]
[ 46.41758346557617, 63.42856979370117, -77.75823974609375, 77.05494689941406, -9.626373291015625, 92.33926391601562 ]
9.8
98
0
98
0
[ 50.72527313232422, 62.241756439208984, -80.79120635986328, 98.54945373535156, -9.450549125671387, 92.63157653808594 ]
[ 48.263736724853516, 63.42856979370117, -77.75823974609375, 77.05494689941406, -9.538461685180664, 92.33926391601562 ]
9.9
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": 10,
    "total_frames": 4907,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 10,
    "splits": {
        "train": "0:10"
    },
    "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": [
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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"
            ],
            "shape": [
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        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
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            "names": [
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            "info": {
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        "observation.images.wrist": {
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            "info": {
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

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