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Datasets:
1g0rrr
/
sam_openpi_cube_low10

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
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action
sequence
observation.state
sequence
timestamp
float32
0
9.93
frame_index
int64
0
298
episode_index
int64
0
9
index
int64
0
2.99k
task_index
int64
0
0
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2.166667
65
0
65
0
[ -43.154296875, 106.435546875, 117.685546875, 43.330078125, 38.671875, 42.099609375, 100.26881408691406 ]
[ -42.978515625, 109.072265625, 119.443359375, 43.330078125, 38.84765625, 41.220703125, 99.27007293701172 ]
2.2
66
0
66
0
[ -43.2421875, 105.556640625, 117.509765625, 42.71484375, 38.408203125, 42.626953125, 100.26881408691406 ]
[ -43.154296875, 107.40234375, 118.564453125, 43.41796875, 38.671875, 42.099609375, 99.27007293701172 ]
2.233333
67
0
67
0
[ -43.41796875, 105.1171875, 117.861328125, 41.484375, 37.96875, 42.802734375, 100.26881408691406 ]
[ -43.2421875, 105.99609375, 117.94921875, 43.154296875, 38.49609375, 42.451171875, 99.27007293701172 ]
2.266667
68
0
68
0
[ -43.59375, 104.94140625, 118.212890625, 40.078125, 37.529296875, 42.802734375, 100.26881408691406 ]
[ -43.41796875, 105.029296875, 118.037109375, 42.451171875, 38.3203125, 42.890625, 99.27007293701172 ]
2.3
69
0
69
0
[ -44.033203125, 104.677734375, 118.564453125, 39.0234375, 37.44140625, 43.06640625, 100.26881408691406 ]
[ -43.505859375, 104.677734375, 118.4765625, 41.1328125, 37.79296875, 42.802734375, 99.27007293701172 ]
2.333333
70
0
70
0
[ -44.384765625, 104.501953125, 118.740234375, 38.408203125, 37.265625, 43.330078125, 100.26881408691406 ]
[ -43.9453125, 104.501953125, 118.740234375, 39.814453125, 37.44140625, 43.154296875, 99.51338195800781 ]
2.366667
71
0
71
0
[ -44.6484375, 104.23828125, 118.828125, 38.232421875, 37.177734375, 43.76953125, 100.26881408691406 ]
[ -44.384765625, 104.326171875, 118.916015625, 38.759765625, 37.265625, 43.41796875, 99.51338195800781 ]
2.4
72
0
72
0
[ -45, 103.88671875, 118.916015625, 38.232421875, 37.177734375, 44.296875, 100.26881408691406 ]
[ -44.6484375, 104.0625, 119.00390625, 38.3203125, 37.265625, 43.681640625, 99.51338195800781 ]
2.433333
73
0
73
0
[ -45.17578125, 103.623046875, 119.1796875, 38.14453125, 37.001953125, 44.6484375, 100.26881408691406 ]
[ -44.912109375, 103.7109375, 119.091796875, 38.3203125, 37.265625, 44.208984375, 99.51338195800781 ]
2.466667
74
0
74
0
[ -45.439453125, 103.447265625, 119.70703125, 37.44140625, 36.9140625, 44.82421875, 100.26881408691406 ]
[ -45.17578125, 103.447265625, 119.35546875, 38.3203125, 37.265625, 44.736328125, 99.51338195800781 ]
2.5
75
0
75
0
[ -45.439453125, 103.359375, 120.322265625, 36.474609375, 36.474609375, 45, 100.26881408691406 ]
[ -45.3515625, 103.271484375, 119.794921875, 38.056640625, 36.9140625, 44.82421875, 99.51338195800781 ]
2.533333
76
0
76
0
[ -45.52734375, 103.18359375, 120.9375, 35.419921875, 36.03515625, 45.17578125, 100.26881408691406 ]
[ -45.439453125, 103.18359375, 120.41015625, 37.08984375, 36.9140625, 45.087890625, 99.51338195800781 ]
2.566667
77
0
77
0
[ -45.703125, 103.0078125, 121.552734375, 34.541015625, 35.771484375, 45.439453125, 100.26881408691406 ]
[ -45.52734375, 103.0078125, 121.025390625, 36.123046875, 36.38671875, 45.263671875, 99.51338195800781 ]
2.6
78
0
78
0
[ -45.87890625, 102.65625, 121.904296875, 34.1015625, 35.68359375, 45.87890625, 100.26881408691406 ]
[ -45.615234375, 102.83203125, 121.552734375, 35.15625, 36.03515625, 45.439453125, 99.51338195800781 ]
2.633333
79
0
79
0
[ -46.0546875, 101.953125, 121.9921875, 33.92578125, 35.68359375, 46.40625, 100.26881408691406 ]
[ -45.87890625, 102.568359375, 122.16796875, 34.365234375, 35.68359375, 45.791015625, 99.51338195800781 ]
2.666667
80
0
80
0
[ -46.318359375, 101.337890625, 122.080078125, 33.92578125, 35.771484375, 47.021484375, 100.26881408691406 ]
[ -46.0546875, 102.041015625, 122.255859375, 34.1015625, 35.771484375, 46.318359375, 99.51338195800781 ]
2.7
81
0
81
0
[ -46.58203125, 100.72265625, 122.080078125, 33.57421875, 36.03515625, 47.4609375, 100.26881408691406 ]
[ -46.318359375, 101.337890625, 122.255859375, 34.013671875, 35.771484375, 46.845703125, 99.51338195800781 ]
2.733333
82
0
82
0
[ -46.93359375, 100.01953125, 121.9921875, 33.310546875, 36.474609375, 47.900390625, 100.26881408691406 ]
[ -46.494140625, 100.72265625, 122.34375, 33.837890625, 35.771484375, 47.4609375, 99.51338195800781 ]
2.766667
83
0
83
0
[ -47.28515625, 99.31640625, 121.728515625, 33.22265625, 37.177734375, 48.427734375, 100.26881408691406 ]
[ -46.845703125, 100.01953125, 122.34375, 33.57421875, 36.123046875, 47.724609375, 99.51338195800781 ]
2.8
84
0
84
0
[ -47.63671875, 98.525390625, 121.376953125, 33.22265625, 37.6171875, 48.955078125, 100.26881408691406 ]
[ -47.28515625, 99.31640625, 122.255859375, 33.310546875, 36.474609375, 48.251953125, 99.51338195800781 ]
2.833333
85
0
85
0
[ -47.8125, 97.734375, 121.11328125, 33.134765625, 37.880859375, 49.482421875, 100.26881408691406 ]
[ -47.548828125, 98.701171875, 121.9921875, 33.310546875, 36.826171875, 48.8671875, 99.51338195800781 ]
2.866667
86
0
86
0
[ -47.900390625, 97.03125, 120.76171875, 32.958984375, 37.880859375, 49.74609375, 100.26881408691406 ]
[ -47.8125, 97.734375, 121.728515625, 33.310546875, 37.353515625, 49.39453125, 99.51338195800781 ]
2.9
87
0
87
0
[ -47.98828125, 96.328125, 120.41015625, 32.783203125, 37.96875, 49.921875, 100.26881408691406 ]
[ -47.900390625, 97.03125, 121.46484375, 33.134765625, 37.6171875, 49.833984375, 99.51338195800781 ]
2.933333
88
0
88
0
[ -48.076171875, 95.712890625, 120.234375, 32.431640625, 38.14453125, 49.921875, 100.26881408691406 ]
[ -47.900390625, 96.328125, 121.025390625, 32.958984375, 37.705078125, 49.921875, 99.51338195800781 ]
2.966667
89
0
89
0
[ -48.076171875, 95.2734375, 120.146484375, 32.080078125, 38.14453125, 50.009765625, 100.26881408691406 ]
[ -47.98828125, 95.625, 120.673828125, 32.6953125, 37.96875, 49.921875, 99.51338195800781 ]
3
90
0
90
0
[ -48.076171875, 95.009765625, 120.05859375, 31.728515625, 38.14453125, 50.009765625, 100.26881408691406 ]
[ -48.076171875, 95.09765625, 120.5859375, 32.34375, 38.056640625, 50.009765625, 99.51338195800781 ]
3.033333
91
0
91
0
[ -48.076171875, 94.833984375, 120.05859375, 31.376953125, 38.14453125, 49.921875, 100.26881408691406 ]
[ -48.076171875, 94.74609375, 120.5859375, 31.9921875, 38.056640625, 50.009765625, 99.51338195800781 ]
3.066667
92
0
92
0
[ -48.076171875, 94.5703125, 120.05859375, 31.025390625, 38.14453125, 49.833984375, 100.26881408691406 ]
[ -47.98828125, 94.5703125, 120.5859375, 31.640625, 37.96875, 50.009765625, 99.51338195800781 ]
3.1
93
0
93
0
[ -48.076171875, 94.482421875, 120.05859375, 30.673828125, 38.056640625, 49.833984375, 100.26881408691406 ]
[ -48.076171875, 94.39453125, 120.498046875, 31.2890625, 37.96875, 49.833984375, 99.51338195800781 ]
3.133333
94
0
94
0
[ -48.076171875, 94.21875, 120.05859375, 30.322265625, 38.056640625, 49.74609375, 100.26881408691406 ]
[ -48.076171875, 94.21875, 120.498046875, 30.9375, 37.96875, 49.833984375, 99.51338195800781 ]
3.166667
95
0
95
0
[ -48.076171875, 93.955078125, 119.970703125, 29.970703125, 37.96875, 49.658203125, 100.26881408691406 ]
[ -48.076171875, 94.04296875, 120.498046875, 30.5859375, 37.79296875, 49.74609375, 99.51338195800781 ]
3.2
96
0
96
0
[ -48.1640625, 93.69140625, 119.794921875, 29.794921875, 37.96875, 49.658203125, 100.26881408691406 ]
[ -48.076171875, 93.779296875, 120.498046875, 30.234375, 37.79296875, 49.833984375, 99.51338195800781 ]
3.233333
97
0
97
0
[ -48.1640625, 93.33984375, 119.53125, 29.70703125, 37.880859375, 49.658203125, 100.26881408691406 ]
[ -48.1640625, 93.427734375, 120.41015625, 29.970703125, 37.79296875, 49.74609375, 99.51338195800781 ]
3.266667
98
0
98
0
[ -48.1640625, 92.98828125, 119.267578125, 29.794921875, 37.880859375, 49.658203125, 100.26881408691406 ]
[ -48.1640625, 93.251953125, 120.146484375, 29.8828125, 37.79296875, 49.482421875, 99.51338195800781 ]
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": 10,
    "total_frames": 2990,
    "total_tasks": 1,
    "total_videos": 20,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:10"
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    "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": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_side",
                "main_wrist_roll",
                "main_gripper"
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        "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"
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        "observation.images.laptop": {
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            "names": [
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        "timestamp": {
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            "names": null
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        "frame_index": {
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        "episode_index": {
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        }
    }
}

Citation

BibTeX:

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License:
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Number of rows:
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