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Datasets:
julie-trrsr
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SO101-world-model-5fps

Tasks:
Robotics
Modalities:
Tabular
Time-series
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Formats:
parquet
Size:
< 1K
Tags:
LeRobot
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1
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action
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observation.state
list
timestamp
float32
0
21.2
frame_index
int64
0
106
episode_index
int64
0
0
index
int64
0
106
task_index
int64
0
0
[ 12.439560890197754, -103.20879364013672, 97.62637329101562, -100.70330047607422, -11.032966613769531, 1.1456629037857056 ]
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0
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0.2
1
0
1
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0.4
2
0
2
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0.6
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0
3
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0.8
4
0
4
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1
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1.2
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1.8
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2.2
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3
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3.2
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3.4
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3.6
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3.8
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4
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4.2
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4.4
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4.6
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4.8
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5
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5.2
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5.4
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5.6
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5.8
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6
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6.2
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6.4
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6.6
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6.8
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7
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7.2
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7.4
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7.6
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7.8
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8
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8.2
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8.4
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8.6
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8.8
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9
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9.2
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9.4
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9.6
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9.8
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10
50
0
50
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10.2
51
0
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10.4
52
0
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10.6
53
0
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[ -5.362637519836426, -20.351648330688477, 49.846153259277344, 56.92307662963867, -3.472527503967285, 1.248266339302063 ]
10.8
54
0
54
0
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11
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0
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11.2
56
0
56
0
[ 7.516483306884766, -25.318681716918945, 54.81318664550781, 56.57143020629883, 14.90109920501709, 1.3093289136886597 ]
[ 3.9560439586639404, -20.439559936523438, 52.131866455078125, 56.92307662963867, 11.032966613769531, 1.248266339302063 ]
11.4
57
0
57
0
[ 10.15384578704834, -30.065933227539062, 58.06593322753906, 56.57143020629883, 18.94505500793457, 1.2274959087371826 ]
[ 6.593406677246094, -23.69230842590332, 54.85714340209961, 57.010990142822266, 14.549450874328613, 1.248266339302063 ]
11.6
58
0
58
0
[ 13.230769157409668, -31.120878219604492, 59.64834976196289, 56.57143020629883, 24.043956756591797, 1.2274959087371826 ]
[ 9.230769157409668, -28.439559936523438, 57.846153259277344, 56.92307662963867, 18.41758155822754, 1.248266339302063 ]
11.8
59
0
59
0
[ 18.065933227539062, -31.120878219604492, 60.17582321166992, 56.57143020629883, 30.285715103149414, 1.3093289136886597 ]
[ 12.307692527770996, -29.758241653442383, 59.60439682006836, 56.92307662963867, 23.428571701049805, 1.248266339302063 ]
12
60
0
60
0
[ 20.96703338623047, -30.681318283081055, 60.263736724853516, 56.57143020629883, 34.241756439208984, 1.3093289136886597 ]
[ 16.879121780395508, -29.934066772460938, 60.21977996826172, 56.92307662963867, 29.406593322753906, 1.248266339302063 ]
12.2
61
0
61
0
[ 23.69230842590332, -30.681318283081055, 60.263736724853516, 56.57143020629883, 38.28571319580078, 1.3093289136886597 ]
[ 20.131868362426758, -29.934066772460938, 60.39560317993164, 56.92307662963867, 33.626373291015625, 1.248266339302063 ]
12.4
62
0
62
0
[ 26.153846740722656, -30.681318283081055, 59.736263275146484, 55.25274658203125, 42.32966995239258, 1.3093289136886597 ]
[ 22.94505500793457, -29.934066772460938, 60.39560317993164, 56.92307662963867, 37.67033004760742, 1.248266339302063 ]
12.6
63
0
63
0
[ 27.03296661376953, -30.681318283081055, 59.736263275146484, 50.94505310058594, 44.52747344970703, 1.1456629037857056 ]
[ 25.230770111083984, -29.934066772460938, 60.39560317993164, 55.78022003173828, 41.80219650268555, 1.248266339302063 ]
12.8
64
0
64
0
[ 27.03296661376953, -30.681318283081055, 59.64834976196289, 50.41758346557617, 45.93406677246094, 1.1456629037857056 ]
[ 26.549449920654297, -29.934066772460938, 60.39560317993164, 51.912086486816406, 44.17582321166992, 1.1789181232452393 ]
13
65
0
65
0
[ 27.120878219604492, -30.593406677246094, 59.120880126953125, 50.41758346557617, 48.21977996826172, 1.1456629037857056 ]
[ 26.63736343383789, -29.934066772460938, 60.39560317993164, 51.03296661376953, 45.58241653442383, 1.1789181232452393 ]
13.2
66
0
66
0
[ 27.120878219604492, -30.593406677246094, 59.120880126953125, 50.41758346557617, 49.978023529052734, 1.1456629037857056 ]
[ 26.63736343383789, -29.934066772460938, 60.39560317993164, 51.03296661376953, 47.868133544921875, 1.1789181232452393 ]
13.4
67
0
67
0
[ 28.08791160583496, -30.593406677246094, 59.38461685180664, 50.41758346557617, 50.241756439208984, 1.1456629037857056 ]
[ 26.63736343383789, -29.934066772460938, 60.39560317993164, 51.03296661376953, 49.4505500793457, 1.1789181232452393 ]
13.6
68
0
68
0
[ 31.516483306884766, -30.593406677246094, 60.61538314819336, 50.85714340209961, 53.14285659790039, 1.1456629037857056 ]
[ 27.604394912719727, -29.934066772460938, 60.39560317993164, 51.03296661376953, 49.978023529052734, 1.1789181232452393 ]
13.8
69
0
69
0
[ 33.80219650268555, -30.593406677246094, 62.28571319580078, 50.85714340209961, 56.57143020629883, 1.2274959087371826 ]
[ 30.593406677246094, -29.934066772460938, 60.92307662963867, 51.03296661376953, 52.70329666137695, 1.1789181232452393 ]
14
70
0
70
0
[ 36.79121017456055, -30.593406677246094, 62.10988998413086, 50.94505310058594, 57.71428680419922, 1.3093289136886597 ]
[ 32.879119873046875, -29.934066772460938, 62.241756439208984, 51.03296661376953, 56.131866455078125, 1.1789181232452393 ]
14.2
71
0
71
0
[ 37.4945068359375, -30.681318283081055, 60.70329666137695, 56.0439567565918, 57.89011001586914, 1.3093289136886597 ]
[ 35.868133544921875, -29.934066772460938, 62.241756439208984, 51.03296661376953, 57.36263656616211, 1.1789181232452393 ]
14.4
72
0
72
0
[ 37.406593322753906, -30.681318283081055, 58.241756439208984, 58.593406677246094, 59.120880126953125, 1.3093289136886597 ]
[ 37.098899841308594, -29.934066772460938, 62.153846740722656, 55.42856979370117, 57.626373291015625, 1.1789181232452393 ]
14.6
73
0
73
0
[ 37.406593322753906, -30.681318283081055, 56.131866455078125, 58.68132019042969, 59.56044006347656, 1.3093289136886597 ]
[ 37.098899841308594, -29.934066772460938, 60.39560317993164, 58.241756439208984, 58.68132019042969, 1.1789181232452393 ]
14.8
74
0
74
0
[ 37.406593322753906, -31.03296661376953, 55.69230651855469, 58.769229888916016, 59.56044006347656, 1.3093289136886597 ]
[ 37.098899841308594, -29.934066772460938, 58.19780349731445, 58.5054931640625, 59.20878982543945, 1.1789181232452393 ]
15
75
0
75
0
[ 37.4945068359375, -30.94505500793457, 52, 62.46154022216797, 59.56044006347656, 1.3093289136886597 ]
[ 37.098899841308594, -29.934066772460938, 57.58241653442383, 58.5054931640625, 59.20878982543945, 1.1789181232452393 ]
15.2
76
0
76
0
[ 37.14285659790039, -30.681318283081055, 50.593406677246094, 63.07692337036133, 59.56044006347656, 1.3093289136886597 ]
[ 37.098899841308594, -29.934066772460938, 54.32966995239258, 61.846153259277344, 59.20878982543945, 1.1789181232452393 ]
15.4
77
0
77
0
[ 37.05494689941406, -30.681318283081055, 49.098899841308594, 62.63736343383789, 59.56044006347656, 1.3093289136886597 ]
[ 37.098899841308594, -29.934066772460938, 52.659339904785156, 62.72527313232422, 59.20878982543945, 1.1789181232452393 ]
15.6
78
0
78
0
[ 37.14285659790039, -30.681318283081055, 48.57143020629883, 60.43955993652344, 62.28571319580078, 1.2274959087371826 ]
[ 37.098899841308594, -29.934066772460938, 51.16483688354492, 62.72527313232422, 59.29670333862305, 1.1789181232452393 ]
15.8
79
0
79
0
[ 37.14285659790039, -30.593406677246094, 48.57143020629883, 57.18681335449219, 62.81318664550781, 1.1456629037857056 ]
[ 37.098899841308594, -29.934066772460938, 50.72527313232422, 60.96703338623047, 61.846153259277344, 1.1789181232452393 ]
16
80
0
80
0
[ 37.230770111083984, -30.593406677246094, 48.57143020629883, 53.93406677246094, 65.53845977783203, 1.1456629037857056 ]
[ 37.098899841308594, -29.934066772460938, 50.63736343383789, 57.978023529052734, 62.46154022216797, 1.1789181232452393 ]
16.200001
81
0
81
0
[ 37.31867980957031, -30.593406677246094, 48.57143020629883, 51.03296661376953, 68, 1.1456629037857056 ]
[ 37.098899841308594, -29.934066772460938, 50.63736343383789, 54.63736343383789, 65.0988998413086, 1.1789181232452393 ]
16.4
82
0
82
0
[ 37.31867980957031, -30.593406677246094, 48.57143020629883, 48.74725341796875, 70.19779968261719, 1.1456629037857056 ]
[ 37.18681335449219, -29.934066772460938, 50.63736343383789, 51.82417678833008, 67.47252655029297, 1.1789181232452393 ]
16.6
83
0
83
0
[ 37.31867980957031, -30.593406677246094, 48.483516693115234, 48.659339904785156, 72.04395294189453, 1.1456629037857056 ]
[ 37.18681335449219, -29.934066772460938, 50.63736343383789, 49.4505500793457, 69.84615325927734, 1.1789181232452393 ]
16.799999
84
0
84
0
[ 37.406593322753906, -30.593406677246094, 48.74725341796875, 44.35165023803711, 73.62637329101562, 1.1456629037857056 ]
[ 37.18681335449219, -29.934066772460938, 50.63736343383789, 49.4505500793457, 71.69230651855469, 1.1789181232452393 ]
17
85
0
85
0
[ 38.021976470947266, -30.593406677246094, 50.241756439208984, 44.43955993652344, 73.89010620117188, 1.1456629037857056 ]
[ 37.18681335449219, -29.934066772460938, 50.63736343383789, 45.230770111083984, 73.27472686767578, 1.1789181232452393 ]
17.200001
86
0
86
0
[ 38.989009857177734, -31.120878219604492, 50.153846740722656, 51.03296661376953, 75.82417297363281, 1.1456629037857056 ]
[ 37.71428680419922, -29.934066772460938, 50.989009857177734, 45.05494689941406, 73.62637329101562, 1.1789181232452393 ]
17.4
87
0
87
0
[ 38.81318664550781, -31.560440063476562, 50.06593322753906, 60.35165023803711, 75.47252655029297, 1.1456629037857056 ]
[ 38.5054931640625, -29.846153259277344, 50.989009857177734, 50.241756439208984, 75.38461303710938, 1.1789181232452393 ]
17.6
88
0
88
0
[ 38.81318664550781, -34.63736343383789, 50.06593322753906, 66.94505310058594, 75.38461303710938, 1.1456629037857056 ]
[ 38.5054931640625, -30.373626708984375, 50.989009857177734, 58.85714340209961, 75.38461303710938, 1.1789181232452393 ]
17.799999
89
0
89
0
[ 38.72527313232422, -34.72527313232422, 49.71428680419922, 69.14286041259766, 75.38461303710938, 1.2274959087371826 ]
[ 38.5054931640625, -33.18681335449219, 50.901100158691406, 65.97801971435547, 75.29669952392578, 1.1789181232452393 ]
18
90
0
90
0
[ 37.406593322753906, -33.58241653442383, 49.626373291015625, 65.89010620117188, 75.38461303710938, 1.2274959087371826 ]
[ 38.5054931640625, -33.53845977783203, 50.901100158691406, 68.61538696289062, 75.29669952392578, 1.1789181232452393 ]
18.200001
91
0
91
0
[ 37.230770111083984, -27.78022003173828, 48.21977996826172, 59.03296661376953, 75.73626708984375, 1.2274959087371826 ]
[ 37.71428680419922, -33.18681335449219, 50.901100158691406, 66.5054931640625, 75.29669952392578, 1.1789181232452393 ]
18.4
92
0
92
0
[ 37.14285659790039, -25.846153259277344, 47.60439682006836, 58.68132019042969, 75.82417297363281, 1.2274959087371826 ]
[ 37.626373291015625, -28.263736724853516, 50.021976470947266, 60.263736724853516, 75.56044006347656, 1.1789181232452393 ]
18.6
93
0
93
0
[ 37.14285659790039, -25.846153259277344, 47.42856979370117, 58.06593322753906, 76.79120635986328, 1.2274959087371826 ]
[ 37.626373291015625, -26.065933227539062, 49.58241653442383, 59.29670333862305, 75.56044006347656, 1.1789181232452393 ]
18.799999
94
0
94
0
[ 37.4945068359375, -25.58241844177246, 47.25274658203125, 50.5054931640625, 78.28571319580078, 1.2274959087371826 ]
[ 37.626373291015625, -25.9780216217041, 49.58241653442383, 58.769229888916016, 76.52747344970703, 1.1789181232452393 ]
19
95
0
95
0
[ 37.406593322753906, -25.670330047607422, 47.25274658203125, 49.71428680419922, 78.28571319580078, 1.1456629037857056 ]
[ 37.53845977783203, -25.626373291015625, 48.79121017456055, 52.17582321166992, 77.93406677246094, 1.1789181232452393 ]
19.200001
96
0
96
0
[ 37.406593322753906, -25.670330047607422, 47.25274658203125, 49.71428680419922, 78.28571319580078, 1.1456629037857056 ]
[ 37.626373291015625, -25.626373291015625, 48.79121017456055, 50.5054931640625, 78.02198028564453, 1.1789181232452393 ]
19.4
97
0
97
0
[ 37.58241653442383, -25.58241844177246, 47.25274658203125, 49.71428680419922, 78.28571319580078, 1.1456629037857056 ]
[ 37.626373291015625, -25.626373291015625, 48.79121017456055, 50.5054931640625, 78.02198028564453, 1.1789181232452393 ]
19.6
98
0
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0
[ 37.67033004760742, -25.58241844177246, 47.340660095214844, 49.71428680419922, 78.28571319580078, 1.1456629037857056 ]
[ 37.626373291015625, -25.626373291015625, 48.79121017456055, 50.5054931640625, 78.02198028564453, 1.1789181232452393 ]
19.799999
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": 1,
    "total_frames": 107,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 5,
    "splits": {
        "train": "0:1"
    },
    "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": [
                1080,
                1920,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 1080,
                "video.width": 1920,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 5,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
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            "names": null
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        "episode_index": {
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            "names": null
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        "index": {
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

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