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Datasets:
1g0rrr
/
sam_openpi03

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
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
89
index
int64
0
26.9k
task_index
int64
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[ -24.521484375, 111.533203125, 121.728515625, 32.080078125, 21.533203125, 13.974609375, 96.83698272705078 ]
2.166667
65
0
65
0
[ -28.037109375, 105.029296875, 111.796875, 31.728515625, 27.333984375, 13.974609375, 100.53763580322266 ]
[ -25.224609375, 109.51171875, 119.8828125, 32.080078125, 22.236328125, 13.974609375, 96.83698272705078 ]
2.2
66
0
66
0
[ -28.828125, 103.271484375, 110.478515625, 30.849609375, 28.65234375, 13.88671875, 100.53763580322266 ]
[ -26.103515625, 107.314453125, 118.125, 32.080078125, 23.203125, 13.974609375, 96.83698272705078 ]
2.233333
67
0
67
0
[ -29.091796875, 101.6015625, 109.3359375, 29.794921875, 28.4765625, 13.798828125, 100.53763580322266 ]
[ -27.24609375, 105.1171875, 116.3671875, 31.9921875, 24.43359375, 13.974609375, 96.83698272705078 ]
2.266667
68
0
68
0
[ -29.091796875, 100.1953125, 108.45703125, 28.30078125, 27.94921875, 13.798828125, 100.53763580322266 ]
[ -28.125, 103.095703125, 114.873046875, 31.640625, 25.576171875, 13.974609375, 96.83698272705078 ]
2.3
69
0
69
0
[ -29.1796875, 98.701171875, 108.10546875, 25.751953125, 27.861328125, 13.53515625, 100.53763580322266 ]
[ -28.65234375, 101.162109375, 113.642578125, 31.11328125, 26.455078125, 13.88671875, 96.83698272705078 ]
2.333333
70
0
70
0
[ -29.35546875, 97.470703125, 108.193359375, 23.02734375, 28.037109375, 12.568359375, 100.53763580322266 ]
[ -29.00390625, 99.4921875, 112.763671875, 30.05859375, 26.806640625, 13.798828125, 96.83698272705078 ]
2.366667
71
0
71
0
[ -29.443359375, 96.328125, 108.369140625, 20.56640625, 28.037109375, 11.6015625, 100.53763580322266 ]
[ -29.1796875, 97.998046875, 112.1484375, 28.037109375, 26.982421875, 13.53515625, 96.83698272705078 ]
2.4
72
0
72
0
[ -29.619140625, 95.44921875, 108.6328125, 17.9296875, 28.037109375, 10.8984375, 100.53763580322266 ]
[ -29.1796875, 96.591796875, 112.060546875, 25.6640625, 27.158203125, 12.744140625, 96.83698272705078 ]
2.433333
73
0
73
0
[ -29.619140625, 94.5703125, 108.984375, 15.732421875, 27.59765625, 10.634765625, 100.53763580322266 ]
[ -29.267578125, 95.361328125, 111.97265625, 23.291015625, 27.333984375, 11.953125, 96.83698272705078 ]
2.466667
74
0
74
0
[ -29.35546875, 93.779296875, 108.984375, 14.4140625, 26.54296875, 11.162109375, 100.53763580322266 ]
[ -29.35546875, 94.306640625, 111.97265625, 20.830078125, 27.333984375, 11.25, 96.83698272705078 ]
2.5
75
0
75
0
[ -28.828125, 92.98828125, 108.720703125, 13.798828125, 25.13671875, 11.42578125, 100.53763580322266 ]
[ -29.35546875, 93.427734375, 111.97265625, 18.544921875, 27.333984375, 11.07421875, 96.83698272705078 ]
2.533333
76
0
76
0
[ -28.037109375, 92.109375, 108.017578125, 13.974609375, 23.291015625, 11.42578125, 100.53763580322266 ]
[ -29.1796875, 92.63671875, 111.97265625, 16.611328125, 26.982421875, 11.25, 96.83698272705078 ]
2.566667
77
0
77
0
[ -27.333984375, 91.0546875, 107.05078125, 14.765625, 21.357421875, 11.42578125, 100.53763580322266 ]
[ -28.916015625, 91.845703125, 111.884765625, 15.732421875, 26.279296875, 11.337890625, 96.83698272705078 ]
2.6
78
0
78
0
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[ -28.388671875, 90.966796875, 111.533203125, 15.556640625, 25.3125, 11.42578125, 96.83698272705078 ]
2.633333
79
0
79
0
[ -25.751953125, 88.857421875, 105.1171875, 15.732421875, 17.841796875, 11.337890625, 100.53763580322266 ]
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2.666667
80
0
80
0
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[ -27.24609375, 88.857421875, 110.21484375, 15.8203125, 22.236328125, 11.42578125, 96.83698272705078 ]
2.7
81
0
81
0
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2.733333
82
0
82
0
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2.766667
83
0
83
0
[ -24.169921875, 83.935546875, 102.48046875, 14.23828125, 14.853515625, 12.12890625, 100.26881408691406 ]
[ -25.13671875, 85.078125, 107.40234375, 15.8203125, 18.10546875, 11.689453125, 96.83698272705078 ]
2.8
84
0
84
0
[ -23.994140625, 82.880859375, 101.953125, 13.88671875, 14.58984375, 12.3046875, 100.26881408691406 ]
[ -24.609375, 84.0234375, 106.787109375, 15.64453125, 17.138671875, 11.865234375, 96.83698272705078 ]
2.833333
85
0
85
0
[ -23.994140625, 82.001953125, 101.513671875, 13.53515625, 14.501953125, 12.48046875, 100.26881408691406 ]
[ -24.345703125, 82.705078125, 106.171875, 15.46875, 16.171875, 12.12890625, 96.83698272705078 ]
2.866667
86
0
86
0
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[ -24.169921875, 81.650390625, 105.64453125, 15.205078125, 15.556640625, 12.392578125, 96.83698272705078 ]
2.9
87
0
87
0
[ -24.08203125, 80.244140625, 100.546875, 13.095703125, 14.765625, 12.919921875, 100.26881408691406 ]
[ -24.169921875, 80.68359375, 105.205078125, 14.853515625, 15.29296875, 12.568359375, 96.83698272705078 ]
2.933333
88
0
88
0
[ -24.2578125, 79.365234375, 100.01953125, 12.919921875, 14.94140625, 13.18359375, 100.26881408691406 ]
[ -24.169921875, 79.716796875, 104.853515625, 14.677734375, 15.1171875, 12.744140625, 96.83698272705078 ]
2.966667
89
0
89
0
[ -24.43359375, 78.486328125, 99.66796875, 12.392578125, 15.1171875, 13.53515625, 100.26881408691406 ]
[ -24.169921875, 78.75, 104.326171875, 14.501953125, 15.1171875, 13.0078125, 96.83698272705078 ]
3
90
0
90
0
[ -24.697265625, 77.783203125, 99.404296875, 11.689453125, 15.380859375, 13.623046875, 100.26881408691406 ]
[ -24.345703125, 77.958984375, 103.798828125, 14.150390625, 15.1171875, 13.271484375, 96.83698272705078 ]
3.033333
91
0
91
0
[ -24.873046875, 77.080078125, 99.140625, 11.07421875, 15.732421875, 13.623046875, 100.26881408691406 ]
[ -24.43359375, 77.080078125, 103.359375, 13.798828125, 15.1171875, 13.53515625, 96.83698272705078 ]
3.066667
92
0
92
0
[ -25.048828125, 76.376953125, 98.701171875, 10.810546875, 16.083984375, 13.623046875, 100.26881408691406 ]
[ -24.697265625, 76.2890625, 103.095703125, 13.18359375, 15.29296875, 13.53515625, 96.83698272705078 ]
3.1
93
0
93
0
[ -25.13671875, 75.673828125, 98.173828125, 10.546875, 16.34765625, 13.7109375, 100.26881408691406 ]
[ -24.78515625, 75.498046875, 102.83203125, 12.65625, 15.29296875, 13.623046875, 96.83698272705078 ]
3.133333
94
0
94
0
[ -25.224609375, 75.146484375, 97.734375, 10.283203125, 16.435546875, 13.7109375, 100.26881408691406 ]
[ -24.873046875, 74.70703125, 102.392578125, 12.3046875, 15.64453125, 13.623046875, 96.83698272705078 ]
3.166667
95
0
95
0
[ -25.224609375, 74.53125, 97.294921875, 10.107421875, 16.435546875, 13.798828125, 100.26881408691406 ]
[ -24.9609375, 74.00390625, 101.953125, 11.953125, 15.8203125, 13.623046875, 96.83698272705078 ]
3.2
96
0
96
0
[ -25.224609375, 74.00390625, 96.6796875, 10.01953125, 16.435546875, 13.798828125, 100.26881408691406 ]
[ -24.9609375, 73.4765625, 101.513671875, 11.77734375, 15.908203125, 13.7109375, 96.83698272705078 ]
3.233333
97
0
97
0
[ -25.224609375, 73.30078125, 95.9765625, 10.1953125, 16.435546875, 13.798828125, 100.26881408691406 ]
[ -24.9609375, 72.861328125, 100.986328125, 11.513671875, 15.908203125, 13.7109375, 96.83698272705078 ]
3.266667
98
0
98
0
[ -25.224609375, 72.59765625, 95.09765625, 10.283203125, 16.259765625, 13.798828125, 100.26881408691406 ]
[ -24.9609375, 72.24609375, 100.458984375, 11.513671875, 15.908203125, 13.7109375, 96.83698272705078 ]
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": {
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            "names": [
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                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_side",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
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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.images.laptop": {
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            "shape": [
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            "names": [
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        "observation.images.phone": {
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            "info": {
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                "video.codec": "av1",
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        },
        "timestamp": {
            "dtype": "float32",
            "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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        "index": {
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        }
    }
}

Citation

BibTeX:

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Downloads last month
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License:
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Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
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