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so101_test

Tasks:
Robotics
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LeRobot
so101
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float32
0
22.5
frame_index
int64
0
676
episode_index
int64
0
14
index
int64
0
7.53k
task_index
int64
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[ -23.818359375, 104.150390625, 135.615234375, -0.17578125, 83.3203125, 17.51459503173828 ]
[ -23.203125, 111.357421875, 140.361328125, 2.4609375, 75.849609375, 17.24376678466797 ]
2.4
72
0
72
0
[ -23.818359375, 102.041015625, 134.384765625, -0.17578125, 85.341796875, 17.51459503173828 ]
[ -23.37890625, 108.80859375, 139.39453125, 1.669921875, 78.22265625, 17.24376678466797 ]
2.433333
73
0
73
0
[ -23.90625, 100.107421875, 132.978515625, -0.17578125, 87.36328125, 17.51459503173828 ]
[ -23.466796875, 106.787109375, 138.603515625, 1.318359375, 79.98046875, 17.24376678466797 ]
2.466667
74
0
74
0
[ -23.90625, 98.7890625, 131.923828125, -0.17578125, 88.857421875, 17.51459503173828 ]
[ -23.642578125, 104.4140625, 137.373046875, 1.0546875, 82.353515625, 17.24376678466797 ]
2.5
75
0
75
0
[ -23.90625, 97.470703125, 131.044921875, 0, 90.52734375, 17.51459503173828 ]
[ -23.73046875, 101.865234375, 135.87890625, 0.791015625, 84.814453125, 17.24376678466797 ]
2.533333
76
0
76
0
[ -23.90625, 96.50390625, 130.078125, 0.087890625, 91.845703125, 17.51459503173828 ]
[ -23.818359375, 99.931640625, 134.736328125, 0.791015625, 86.8359375, 17.24376678466797 ]
2.566667
77
0
77
0
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[ -23.818359375, 98.7890625, 134.033203125, 0.703125, 88.154296875, 17.24376678466797 ]
2.6
78
0
78
0
[ -24.43359375, 95.009765625, 128.49609375, 0.3515625, 93.8671875, 17.51459503173828 ]
[ -23.818359375, 97.470703125, 132.978515625, 0.703125, 89.82421875, 17.24376678466797 ]
2.633333
79
0
79
0
[ -24.697265625, 94.21875, 127.79296875, 0.439453125, 95.009765625, 17.51459503173828 ]
[ -23.818359375, 96.328125, 132.01171875, 0.703125, 91.142578125, 17.24376678466797 ]
2.666667
80
0
80
0
[ -24.78515625, 93.603515625, 127.001953125, 0.52734375, 96.064453125, 17.51459503173828 ]
[ -23.818359375, 95.2734375, 131.044921875, 0.703125, 92.4609375, 17.24376678466797 ]
2.7
81
0
81
0
[ -24.873046875, 93.1640625, 126.298828125, 1.142578125, 96.767578125, 17.51459503173828 ]
[ -23.994140625, 94.5703125, 130.341796875, 0.703125, 93.427734375, 17.24376678466797 ]
2.733333
82
0
82
0
[ -24.9609375, 92.4609375, 125.15625, 2.63671875, 97.3828125, 17.51459503173828 ]
[ -24.2578125, 93.779296875, 129.638671875, 0.703125, 94.5703125, 17.24376678466797 ]
2.766667
83
0
83
0
[ -25.6640625, 91.7578125, 123.662109375, 4.74609375, 98.173828125, 17.51459503173828 ]
[ -24.697265625, 93.1640625, 128.759765625, 1.0546875, 95.537109375, 17.24376678466797 ]
2.8
84
0
84
0
[ -26.3671875, 91.142578125, 121.81640625, 7.3828125, 99.755859375, 17.51459503173828 ]
[ -24.9609375, 92.548828125, 127.880859375, 1.93359375, 96.328125, 17.24376678466797 ]
2.833333
85
0
85
0
[ -26.982421875, 90.615234375, 119.970703125, 10.01953125, 101.6015625, 17.51459503173828 ]
[ -25.3125, 91.7578125, 126.5625, 3.427734375, 97.119140625, 17.24376678466797 ]
2.866667
86
0
86
0
[ -27.7734375, 90.087890625, 117.94921875, 12.744140625, 103.447265625, 17.51459503173828 ]
[ -25.48828125, 91.0546875, 125.15625, 5.2734375, 98.349609375, 17.24376678466797 ]
2.9
87
0
87
0
[ -28.4765625, 89.208984375, 115.48828125, 15.99609375, 105.205078125, 17.51459503173828 ]
[ -26.455078125, 90.087890625, 122.51953125, 8.7890625, 100.8984375, 17.24376678466797 ]
2.933333
88
0
88
0
[ -28.916015625, 88.06640625, 113.5546875, 18.80859375, 106.611328125, 17.51459503173828 ]
[ -27.421875, 89.82421875, 120.849609375, 11.25, 102.392578125, 17.24376678466797 ]
2.966667
89
0
89
0
[ -29.091796875, 87.275390625, 112.67578125, 19.951171875, 107.9296875, 17.51459503173828 ]
[ -28.212890625, 89.12109375, 119.1796875, 13.271484375, 103.623046875, 17.24376678466797 ]
3
90
0
90
0
[ -29.091796875, 86.572265625, 111.796875, 20.830078125, 108.896484375, 17.51459503173828 ]
[ -28.564453125, 88.154296875, 117.24609375, 15.8203125, 105.1171875, 17.24376678466797 ]
3.033333
91
0
91
0
[ -29.091796875, 86.1328125, 111.09375, 21.181640625, 109.16015625, 17.51459503173828 ]
[ -28.740234375, 87.36328125, 115.927734375, 17.578125, 106.34765625, 17.24376678466797 ]
3.066667
92
0
92
0
[ -29.00390625, 86.044921875, 111.09375, 21.181640625, 109.072265625, 17.51459503173828 ]
[ -28.740234375, 86.572265625, 114.873046875, 18.984375, 107.40234375, 17.24376678466797 ]
3.1
93
0
93
0
[ -28.740234375, 86.220703125, 111.181640625, 21.181640625, 108.896484375, 17.51459503173828 ]
[ -28.65234375, 86.044921875, 114.08203125, 19.775390625, 108.017578125, 17.24376678466797 ]
3.133333
94
0
94
0
[ -28.4765625, 86.30859375, 111.26953125, 21.26953125, 108.80859375, 17.51459503173828 ]
[ -28.65234375, 86.044921875, 113.73046875, 20.302734375, 108.28125, 17.24376678466797 ]
3.166667
95
0
95
0
[ -28.125, 86.30859375, 111.09375, 21.62109375, 108.720703125, 17.51459503173828 ]
[ -28.65234375, 86.044921875, 113.5546875, 20.654296875, 108.369140625, 17.24376678466797 ]
3.2
96
0
96
0
[ -27.861328125, 86.396484375, 110.7421875, 22.5, 108.720703125, 17.51459503173828 ]
[ -28.65234375, 86.044921875, 113.37890625, 20.91796875, 108.45703125, 17.24376678466797 ]
3.233333
97
0
97
0
[ -27.0703125, 86.396484375, 110.654296875, 23.37890625, 108.6328125, 17.51459503173828 ]
[ -28.564453125, 86.044921875, 113.02734375, 21.533203125, 108.45703125, 17.24376678466797 ]
3.266667
98
0
98
0
[ -26.455078125, 86.396484375, 110.56640625, 23.90625, 107.578125, 17.51459503173828 ]
[ -28.388671875, 86.044921875, 112.8515625, 21.97265625, 108.45703125, 17.24376678466797 ]
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": "v2.1",
    "robot_type": "so101",
    "total_episodes": 15,
    "total_frames": 7526,
    "total_tasks": 1,
    "total_videos": 15,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:15"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.realsense camera": {
            "dtype": "video",
            "shape": [
                960,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 960,
                "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
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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