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Datasets:
1g0rrr
/
sam_openpi01

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
openpi
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
1
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action
sequence
observation.state
sequence
timestamp
float32
0
9.93
frame_index
int64
0
298
episode_index
int64
0
7
index
int64
0
2.39k
task_index
int64
0
0
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[ -21.09375, 82.177734375, 89.6484375, 30.76171875, 20.7421875, 11.42578125, 100.53763580322266 ]
[ -19.775390625, 84.287109375, 97.646484375, 29.443359375, 19.6875, 10.634765625, 96.59367370605469 ]
2.133333
64
0
64
0
[ -21.533203125, 81.123046875, 88.76953125, 30.849609375, 20.91796875, 11.6015625, 100.53763580322266 ]
[ -20.302734375, 82.44140625, 95.712890625, 30.146484375, 20.0390625, 11.07421875, 96.59367370605469 ]
2.166667
65
0
65
0
[ -22.1484375, 80.5078125, 88.154296875, 30.9375, 21.97265625, 11.953125, 100.80644989013672 ]
[ -20.7421875, 81.03515625, 94.21875, 30.673828125, 20.0390625, 11.42578125, 96.59367370605469 ]
2.2
66
0
66
0
[ -22.939453125, 80.5078125, 88.06640625, 31.11328125, 23.90625, 12.216796875, 100.80644989013672 ]
[ -21.26953125, 79.892578125, 93.1640625, 30.9375, 20.0390625, 11.689453125, 96.59367370605469 ]
2.233333
67
0
67
0
[ -23.5546875, 80.859375, 88.41796875, 31.2890625, 24.697265625, 12.65625, 100.80644989013672 ]
[ -21.708984375, 79.1015625, 92.4609375, 31.201171875, 20.390625, 11.953125, 96.59367370605469 ]
2.266667
68
0
68
0
[ -23.90625, 81.2109375, 89.384765625, 30.234375, 24.697265625, 13.271484375, 100.80644989013672 ]
[ -22.412109375, 78.92578125, 92.197265625, 31.376953125, 21.708984375, 12.3046875, 96.59367370605469 ]
2.3
69
0
69
0
[ -24.345703125, 81.298828125, 90.263671875, 28.916015625, 24.609375, 14.150390625, 100.80644989013672 ]
[ -23.02734375, 78.92578125, 92.197265625, 31.376953125, 22.67578125, 12.744140625, 96.59367370605469 ]
2.333333
70
0
70
0
[ -24.873046875, 80.771484375, 90.615234375, 27.861328125, 24.9609375, 14.94140625, 100.80644989013672 ]
[ -23.5546875, 78.92578125, 92.197265625, 31.025390625, 23.37890625, 13.271484375, 96.59367370605469 ]
2.366667
71
0
71
0
[ -25.224609375, 79.892578125, 90.615234375, 26.982421875, 24.78515625, 15.99609375, 100.53763580322266 ]
[ -24.08203125, 78.92578125, 92.197265625, 30.322265625, 23.73046875, 14.0625, 96.59367370605469 ]
2.4
72
0
72
0
[ -25.400390625, 79.189453125, 90.703125, 25.83984375, 24.521484375, 17.138671875, 100.53763580322266 ]
[ -24.521484375, 78.837890625, 92.197265625, 29.53125, 23.90625, 14.765625, 96.59367370605469 ]
2.433333
73
0
73
0
[ -25.6640625, 78.92578125, 91.0546875, 24.78515625, 23.994140625, 17.314453125, 100.53763580322266 ]
[ -24.873046875, 78.486328125, 92.197265625, 28.4765625, 24.08203125, 15.8203125, 96.59367370605469 ]
2.466667
74
0
74
0
[ -25.927734375, 78.662109375, 91.142578125, 24.521484375, 23.642578125, 17.05078125, 100.53763580322266 ]
[ -25.13671875, 78.046875, 92.197265625, 27.333984375, 24.08203125, 16.611328125, 96.59367370605469 ]
2.5
75
0
75
0
[ -26.015625, 78.486328125, 91.0546875, 24.873046875, 22.8515625, 16.875, 100.53763580322266 ]
[ -25.400390625, 77.34375, 92.28515625, 26.54296875, 23.994140625, 16.962890625, 96.59367370605469 ]
2.533333
76
0
76
0
[ -26.015625, 78.486328125, 90.87890625, 25.224609375, 21.708984375, 17.2265625, 100.53763580322266 ]
[ -25.576171875, 76.904296875, 92.28515625, 26.19140625, 23.818359375, 17.05078125, 96.59367370605469 ]
2.566667
77
0
77
0
[ -25.927734375, 78.22265625, 90.966796875, 25.13671875, 20.478515625, 17.9296875, 100.53763580322266 ]
[ -25.6640625, 76.640625, 92.28515625, 26.19140625, 23.466796875, 17.05078125, 96.59367370605469 ]
2.6
78
0
78
0
[ -25.927734375, 77.6953125, 91.142578125, 24.169921875, 19.599609375, 18.544921875, 100.53763580322266 ]
[ -25.6640625, 76.552734375, 92.28515625, 26.19140625, 22.587890625, 17.314453125, 96.59367370605469 ]
2.633333
79
0
79
0
[ -26.015625, 76.904296875, 91.23046875, 22.939453125, 19.16015625, 19.16015625, 100.53763580322266 ]
[ -25.6640625, 76.46484375, 92.28515625, 26.103515625, 21.796875, 17.9296875, 96.59367370605469 ]
2.666667
80
0
80
0
[ -26.19140625, 76.025390625, 91.23046875, 21.97265625, 18.896484375, 19.775390625, 100.53763580322266 ]
[ -25.6640625, 76.11328125, 92.28515625, 25.48828125, 20.91796875, 18.45703125, 96.59367370605469 ]
2.7
81
0
81
0
[ -26.630859375, 75.234375, 91.23046875, 21.26953125, 18.896484375, 19.86328125, 100.53763580322266 ]
[ -25.6640625, 75.41015625, 92.28515625, 24.43359375, 20.390625, 19.072265625, 96.59367370605469 ]
2.733333
82
0
82
0
[ -27.0703125, 74.443359375, 91.142578125, 21.181640625, 19.3359375, 19.6875, 100.53763580322266 ]
[ -25.83984375, 74.53125, 92.373046875, 23.5546875, 20.21484375, 19.599609375, 96.59367370605469 ]
2.766667
83
0
83
0
[ -27.59765625, 73.65234375, 91.0546875, 21.09375, 20.126953125, 19.951171875, 100.53763580322266 ]
[ -26.015625, 73.740234375, 92.373046875, 22.8515625, 19.6875, 19.6875, 96.59367370605469 ]
2.8
84
0
84
0
[ -27.94921875, 73.037109375, 91.318359375, 20.390625, 20.654296875, 20.654296875, 100.53763580322266 ]
[ -26.455078125, 72.861328125, 92.373046875, 22.587890625, 19.6875, 19.775390625, 96.59367370605469 ]
2.833333
85
0
85
0
[ -28.30078125, 72.685546875, 91.7578125, 19.3359375, 20.91796875, 21.4453125, 100.53763580322266 ]
[ -26.982421875, 72.0703125, 92.373046875, 22.236328125, 19.6875, 20.126953125, 96.59367370605469 ]
2.866667
86
0
86
0
[ -28.65234375, 72.333984375, 92.28515625, 18.28125, 21.09375, 21.884765625, 100.53763580322266 ]
[ -27.509765625, 71.455078125, 92.548828125, 21.796875, 19.86328125, 20.654296875, 96.59367370605469 ]
2.9
87
0
87
0
[ -29.00390625, 71.982421875, 92.724609375, 17.314453125, 21.4453125, 22.236328125, 100.53763580322266 ]
[ -28.037109375, 70.83984375, 92.98828125, 20.91796875, 20.390625, 21.26953125, 96.59367370605469 ]
2.933333
88
0
88
0
[ -29.267578125, 71.71875, 92.900390625, 16.5234375, 21.884765625, 22.412109375, 100.53763580322266 ]
[ -28.388671875, 70.400390625, 93.427734375, 20.0390625, 20.478515625, 21.796875, 96.59367370605469 ]
2.966667
89
0
89
0
[ -29.443359375, 71.3671875, 92.900390625, 16.171875, 22.32421875, 22.587890625, 100.53763580322266 ]
[ -28.828125, 70.13671875, 93.8671875, 19.072265625, 20.654296875, 22.1484375, 96.59367370605469 ]
3
90
0
90
0
[ -29.53125, 71.103515625, 92.900390625, 15.908203125, 22.32421875, 22.67578125, 100.53763580322266 ]
[ -29.00390625, 69.873046875, 94.130859375, 18.28125, 20.830078125, 22.412109375, 96.59367370605469 ]
3.033333
91
0
91
0
[ -29.53125, 70.927734375, 92.900390625, 15.8203125, 22.32421875, 22.67578125, 100.53763580322266 ]
[ -29.1796875, 69.609375, 94.130859375, 17.75390625, 21.357421875, 22.587890625, 96.59367370605469 ]
3.066667
92
0
92
0
[ -29.35546875, 70.751953125, 92.900390625, 15.556640625, 22.236328125, 22.67578125, 100.53763580322266 ]
[ -29.267578125, 69.43359375, 94.130859375, 17.314453125, 21.884765625, 22.587890625, 96.59367370605469 ]
3.1
93
0
93
0
[ -29.1796875, 70.576171875, 92.8125, 15.46875, 21.884765625, 22.67578125, 100.53763580322266 ]
[ -29.267578125, 69.169921875, 94.130859375, 17.05078125, 21.884765625, 22.587890625, 96.59367370605469 ]
3.133333
94
0
94
0
[ -28.916015625, 70.400390625, 92.724609375, 15.380859375, 21.708984375, 22.67578125, 100.26881408691406 ]
[ -29.267578125, 68.90625, 94.130859375, 16.875, 21.884765625, 22.587890625, 96.59367370605469 ]
3.166667
95
0
95
0
[ -28.740234375, 70.048828125, 92.373046875, 15.380859375, 21.533203125, 22.587890625, 100.26881408691406 ]
[ -29.091796875, 68.73046875, 94.130859375, 16.69921875, 21.708984375, 22.587890625, 96.59367370605469 ]
3.2
96
0
96
0
[ -28.564453125, 69.78515625, 92.021484375, 15.46875, 21.357421875, 22.412109375, 100.26881408691406 ]
[ -28.916015625, 68.466796875, 94.130859375, 16.69921875, 21.708984375, 22.587890625, 96.59367370605469 ]
3.233333
97
0
97
0
[ -28.388671875, 69.43359375, 91.669921875, 15.556640625, 21.357421875, 22.32421875, 100.26881408691406 ]
[ -28.828125, 68.203125, 94.130859375, 16.69921875, 21.708984375, 22.587890625, 96.59367370605469 ]
3.266667
98
0
98
0
[ -28.30078125, 69.08203125, 91.23046875, 15.556640625, 21.26953125, 22.1484375, 100.26881408691406 ]
[ -28.740234375, 67.939453125, 94.130859375, 16.69921875, 21.62109375, 22.5, 96.59367370605469 ]
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": "so100",
    "total_episodes": 6,
    "total_frames": 1794,
    "total_tasks": 1,
    "total_videos": 12,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:6"
    },
    "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": {
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            "shape": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_side",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
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            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_side",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.laptop": {
            "dtype": "video",
            "shape": [
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                640,
                3
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            "names": [
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            "info": {
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                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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        "observation.images.phone": {
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            "shape": [
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            "names": [
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            "info": {
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                "video.channels": 3,
                "video.codec": "av1",
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                "video.is_depth_map": false,
                "has_audio": false
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        },
        "timestamp": {
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            "shape": [
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            "names": null
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        "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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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Number of rows:
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