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Datasets:
1g0rrr
/
sam_openpi_solder2

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
54
index
int64
0
16.4k
task_index
int64
0
0
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65
0
[ 7.470703125, 161.19140625, 156.796875, 44.033203125, -2.197265625, -0.17578125, 100.26881408691406 ]
[ 6.591796875, 165.322265625, 159.08203125, 45.52734375, -0.791015625, 0.263671875, 99.51338195800781 ]
2.2
66
0
66
0
[ 7.998046875, 158.818359375, 155.654296875, 43.330078125, -2.724609375, -0.52734375, 100.26881408691406 ]
[ 7.294921875, 163.212890625, 157.8515625, 44.6484375, -1.494140625, -0.087890625, 99.51338195800781 ]
2.233333
67
0
67
0
[ 8.61328125, 156.357421875, 154.248046875, 42.802734375, -3.427734375, -0.87890625, 100.26881408691406 ]
[ 7.734375, 161.103515625, 156.884765625, 43.76953125, -1.845703125, -0.439453125, 99.51338195800781 ]
2.266667
68
0
68
0
[ 9.404296875, 153.984375, 152.75390625, 42.5390625, -4.21875, -1.40625, 100.26881408691406 ]
[ 8.349609375, 158.73046875, 155.654296875, 43.06640625, -2.548828125, -0.87890625, 99.51338195800781 ]
2.3
69
0
69
0
[ 10.1953125, 151.69921875, 151.083984375, 42.451171875, -4.833984375, -1.93359375, 100.26881408691406 ]
[ 8.876953125, 156.533203125, 154.51171875, 42.802734375, -3.076171875, -1.142578125, 99.51338195800781 ]
2.333333
70
0
70
0
[ 10.8984375, 149.326171875, 149.326171875, 42.802734375, -5.361328125, -2.28515625, 100.26881408691406 ]
[ 9.84375, 154.423828125, 153.017578125, 42.626953125, -3.779296875, -1.7578125, 99.51338195800781 ]
2.366667
71
0
71
0
[ 11.6015625, 147.216796875, 147.48046875, 43.06640625, -6.064453125, -2.724609375, 100.26881408691406 ]
[ 10.634765625, 151.787109375, 151.259765625, 42.802734375, -4.5703125, -2.197265625, 99.51338195800781 ]
2.4
72
0
72
0
[ 12.48046875, 145.1953125, 145.810546875, 43.330078125, -6.85546875, -3.076171875, 100.26881408691406 ]
[ 11.337890625, 149.58984375, 149.677734375, 43.154296875, -5.09765625, -2.548828125, 99.51338195800781 ]
2.433333
73
0
73
0
[ 13.447265625, 143.4375, 144.228515625, 43.59375, -7.734375, -3.427734375, 100.26881408691406 ]
[ 12.12890625, 147.392578125, 147.83203125, 43.330078125, -5.9765625, -2.98828125, 99.51338195800781 ]
2.466667
74
0
74
0
[ 14.326171875, 141.85546875, 142.646484375, 43.76953125, -8.525390625, -3.955078125, 100.26881408691406 ]
[ 12.919921875, 145.1953125, 146.07421875, 43.681640625, -6.50390625, -3.33984375, 99.51338195800781 ]
2.5
75
0
75
0
[ 15.29296875, 140.2734375, 141.064453125, 44.12109375, -9.4921875, -4.482421875, 100.26881408691406 ]
[ 13.88671875, 143.26171875, 144.580078125, 43.857421875, -7.3828125, -3.603515625, 99.51338195800781 ]
2.533333
76
0
76
0
[ 16.083984375, 138.8671875, 139.5703125, 44.47265625, -10.37109375, -5.09765625, 100.26881408691406 ]
[ 14.853515625, 141.416015625, 142.822265625, 44.208984375, -8.173828125, -4.39453125, 99.51338195800781 ]
2.566667
77
0
77
0
[ 16.69921875, 137.63671875, 138.1640625, 44.736328125, -10.8984375, -5.625, 100.26881408691406 ]
[ 15.64453125, 139.833984375, 141.328125, 44.47265625, -9.052734375, -4.833984375, 99.51338195800781 ]
2.6
78
0
78
0
[ 17.314453125, 136.494140625, 136.845703125, 44.912109375, -11.42578125, -5.9765625, 100.26881408691406 ]
[ 16.435546875, 138.427734375, 139.74609375, 44.82421875, -10.01953125, -5.44921875, 99.51338195800781 ]
2.633333
79
0
79
0
[ 17.9296875, 135.439453125, 135.703125, 44.912109375, -12.041015625, -6.328125, 100.26881408691406 ]
[ 17.05078125, 137.021484375, 138.33984375, 45, -10.634765625, -5.888671875, 99.51338195800781 ]
2.666667
80
0
80
0
[ 18.369140625, 134.208984375, 134.6484375, 44.912109375, -12.392578125, -6.591796875, 100.26881408691406 ]
[ 17.666015625, 135.87890625, 137.109375, 45, -11.25, -6.240234375, 99.51338195800781 ]
2.7
81
0
81
0
[ 18.80859375, 133.06640625, 133.76953125, 44.912109375, -12.65625, -6.85546875, 100.26881408691406 ]
[ 18.28125, 134.736328125, 135.87890625, 45, -11.77734375, -6.50390625, 99.51338195800781 ]
2.733333
82
0
82
0
[ 19.16015625, 131.923828125, 133.06640625, 44.6484375, -12.919921875, -7.119140625, 100.26881408691406 ]
[ 18.6328125, 133.505859375, 134.736328125, 45, -12.12890625, -6.85546875, 99.51338195800781 ]
2.766667
83
0
83
0
[ 19.423828125, 131.044921875, 132.626953125, 43.9453125, -13.271484375, -7.294921875, 100.26881408691406 ]
[ 19.072265625, 132.36328125, 133.857421875, 44.82421875, -12.3046875, -7.119140625, 99.51338195800781 ]
2.8
84
0
84
0
[ 19.775390625, 130.25390625, 132.626953125, 43.06640625, -13.7109375, -7.294921875, 100.26881408691406 ]
[ 19.3359375, 131.220703125, 133.330078125, 44.560546875, -13.0078125, -7.294921875, 99.51338195800781 ]
2.833333
85
0
85
0
[ 20.126953125, 129.462890625, 132.626953125, 42.099609375, -14.326171875, -7.3828125, 100.26881408691406 ]
[ 19.599609375, 130.4296875, 133.2421875, 43.681640625, -13.271484375, -7.294921875, 99.51338195800781 ]
2.866667
86
0
86
0
[ 20.302734375, 128.671875, 132.71484375, 41.30859375, -14.58984375, -7.3828125, 100.26881408691406 ]
[ 19.951171875, 129.638671875, 133.154296875, 42.71484375, -13.53515625, -7.3828125, 99.51338195800781 ]
2.9
87
0
87
0
[ 20.478515625, 127.96875, 132.71484375, 40.60546875, -14.94140625, -7.3828125, 100.26881408691406 ]
[ 20.21484375, 128.84765625, 133.154296875, 41.8359375, -13.88671875, -7.294921875, 99.51338195800781 ]
2.933333
88
0
88
0
[ 20.56640625, 127.265625, 132.802734375, 40.078125, -15.1171875, -7.3828125, 100.26881408691406 ]
[ 20.478515625, 127.96875, 133.154296875, 41.044921875, -14.4140625, -7.3828125, 99.51338195800781 ]
2.966667
89
0
89
0
[ 20.654296875, 126.73828125, 132.802734375, 39.55078125, -15.29296875, -7.294921875, 100.26881408691406 ]
[ 20.56640625, 127.265625, 133.154296875, 40.341796875, -14.94140625, -7.3828125, 99.51338195800781 ]
3
90
0
90
0
[ 20.830078125, 126.2109375, 132.802734375, 39.287109375, -15.46875, -7.119140625, 100.26881408691406 ]
[ 20.56640625, 126.650390625, 133.154296875, 39.990234375, -15.1171875, -7.294921875, 99.51338195800781 ]
3.033333
91
0
91
0
[ 20.91796875, 125.771484375, 132.71484375, 39.111328125, -15.8203125, -7.03125, 100.26881408691406 ]
[ 20.7421875, 126.2109375, 133.154296875, 39.462890625, -15.1171875, -7.119140625, 99.51338195800781 ]
3.066667
92
0
92
0
[ 21.09375, 125.419921875, 132.5390625, 38.935546875, -15.99609375, -6.943359375, 100.26881408691406 ]
[ 20.830078125, 125.68359375, 133.154296875, 39.287109375, -15.29296875, -6.943359375, 99.51338195800781 ]
3.1
93
0
93
0
[ 21.09375, 124.892578125, 132.275390625, 38.84765625, -16.083984375, -6.85546875, 100.26881408691406 ]
[ 21.09375, 125.33203125, 133.154296875, 39.19921875, -15.64453125, -6.943359375, 99.51338195800781 ]
3.133333
94
0
94
0
[ 21.09375, 124.453125, 132.099609375, 38.759765625, -16.171875, -6.767578125, 100.26881408691406 ]
[ 21.09375, 124.892578125, 132.978515625, 39.0234375, -15.99609375, -6.767578125, 99.51338195800781 ]
3.166667
95
0
95
0
[ 21.09375, 123.92578125, 131.923828125, 38.583984375, -16.34765625, -6.6796875, 100.26881408691406 ]
[ 21.09375, 124.365234375, 132.626953125, 38.935546875, -15.908203125, -6.767578125, 99.51338195800781 ]
3.2
96
0
96
0
[ 21.09375, 123.310546875, 131.8359375, 38.3203125, -16.34765625, -6.591796875, 100.26881408691406 ]
[ 21.09375, 124.013671875, 132.5390625, 38.759765625, -16.083984375, -6.6796875, 99.51338195800781 ]
3.233333
97
0
97
0
[ 21.09375, 122.87109375, 131.8359375, 38.14453125, -16.34765625, -6.591796875, 100.26881408691406 ]
[ 21.09375, 123.310546875, 132.36328125, 38.583984375, -16.083984375, -6.591796875, 99.51338195800781 ]
3.266667
98
0
98
0
[ 21.09375, 122.51953125, 131.8359375, 37.79296875, -16.435546875, -6.591796875, 100.26881408691406 ]
[ 21.09375, 122.783203125, 132.36328125, 38.3203125, -16.171875, -6.591796875, 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": 5,
    "total_frames": 1495,
    "total_tasks": 1,
    "total_videos": 10,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:5"
    },
    "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": {
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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": {
            "dtype": "video",
            "shape": [
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                640,
                3
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            "names": [
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            "info": {
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                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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        "observation.images.phone": {
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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,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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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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        }
    }
}

Citation

BibTeX:

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License:
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