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Datasets:
yingliu-data
/
so101_da_pinchi

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so101
lerobot
hackathon
daPinchi
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
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action
sequence
observation.state
sequence
timestamp
float32
0
31.9
frame_index
int64
0
956
episode_index
int64
0
39
index
int64
0
26.5k
task_index
int64
0
0
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0
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[ 8.61328125, 170.244140625, 158.994140625, 72.861328125, 3.1640625, 39.124088287353516 ]
2.6
78
0
78
0
[ 8.4375, 161.630859375, 145.986328125, 71.015625, 2.8125, 38.25 ]
[ 8.61328125, 167.958984375, 156.62109375, 72.861328125, 3.1640625, 39.124088287353516 ]
2.633333
79
0
79
0
[ 8.525390625, 160.13671875, 143.61328125, 71.015625, 2.8125, 38.25 ]
[ 8.61328125, 165.76171875, 154.248046875, 72.861328125, 3.1640625, 39.124088287353516 ]
2.666667
80
0
80
0
[ 8.525390625, 158.642578125, 141.240234375, 71.19140625, 2.8125, 38.25 ]
[ 8.61328125, 163.65234375, 151.787109375, 72.861328125, 3.1640625, 39.124088287353516 ]
2.7
81
0
81
0
[ 8.525390625, 157.32421875, 138.603515625, 71.982421875, 2.8125, 38.25 ]
[ 8.61328125, 161.71875, 149.23828125, 72.7734375, 3.1640625, 39.124088287353516 ]
2.733333
82
0
82
0
[ 8.525390625, 156.26953125, 135.87890625, 73.125, 2.8125, 38.25 ]
[ 8.61328125, 160.224609375, 147.041015625, 72.7734375, 3.1640625, 39.124088287353516 ]
2.766667
83
0
83
0
[ 8.349609375, 155.21484375, 132.978515625, 74.70703125, 2.8125, 38.25 ]
[ 8.61328125, 158.642578125, 144.4921875, 72.7734375, 3.1640625, 39.124088287353516 ]
2.8
84
0
84
0
[ 8.349609375, 153.896484375, 130.166015625, 76.2890625, 2.724609375, 38.25 ]
[ 8.525390625, 157.236328125, 141.6796875, 73.212890625, 3.1640625, 39.124088287353516 ]
2.833333
85
0
85
0
[ 8.349609375, 152.314453125, 127.44140625, 77.958984375, 2.724609375, 38.75 ]
[ 8.525390625, 156.09375, 139.04296875, 74.00390625, 3.1640625, 39.124088287353516 ]
2.866667
86
0
86
0
[ 8.4375, 150.46875, 124.453125, 79.98046875, 2.724609375, 38.83333206176758 ]
[ 8.525390625, 154.6875, 135.87890625, 75.498046875, 3.1640625, 39.124088287353516 ]
2.9
87
0
87
0
[ 8.61328125, 147.65625, 120.234375, 82.880859375, 2.724609375, 38.83333206176758 ]
[ 8.525390625, 152.9296875, 132.275390625, 77.16796875, 3.1640625, 39.124088287353516 ]
2.933333
88
0
88
0
[ 8.876953125, 145.37109375, 116.982421875, 85.60546875, 2.724609375, 38.916664123535156 ]
[ 8.525390625, 151.611328125, 129.90234375, 78.486328125, 3.1640625, 39.124088287353516 ]
2.966667
89
0
89
0
[ 8.876953125, 142.91015625, 113.642578125, 88.06640625, 2.724609375, 38.916664123535156 ]
[ 8.4375, 149.94140625, 126.5625, 80.5078125, 3.1640625, 39.124088287353516 ]
3
90
0
90
0
[ 8.876953125, 140.537109375, 110.126953125, 90.439453125, 2.724609375, 38.916664123535156 ]
[ 8.4375, 147.744140625, 123.134765625, 82.880859375, 3.1640625, 39.124088287353516 ]
3.033333
91
0
91
0
[ 8.96484375, 138.076171875, 106.5234375, 92.548828125, 2.724609375, 38.916664123535156 ]
[ 8.525390625, 145.546875, 119.70703125, 85.60546875, 3.1640625, 39.124088287353516 ]
3.066667
92
0
92
0
[ 8.96484375, 135.52734375, 103.095703125, 94.74609375, 2.724609375, 38.916664123535156 ]
[ 8.61328125, 143.26171875, 116.279296875, 87.802734375, 3.1640625, 39.124088287353516 ]
3.1
93
0
93
0
[ 8.96484375, 133.06640625, 99.31640625, 96.767578125, 2.109375, 38.916664123535156 ]
[ 8.61328125, 140.44921875, 112.587890625, 90.263671875, 3.1640625, 39.124088287353516 ]
3.133333
94
0
94
0
[ 8.96484375, 130.78125, 95.80078125, 98.525390625, 0.3515625, 39 ]
[ 8.876953125, 137.98828125, 109.3359375, 92.373046875, 3.076171875, 39.124088287353516 ]
3.166667
95
0
95
0
[ 8.61328125, 128.671875, 92.021484375, 100.1953125, -2.109375, 39 ]
[ 9.140625, 135.263671875, 105.64453125, 94.5703125, 2.109375, 39.124088287353516 ]
3.2
96
0
96
0
[ 8.525390625, 126.73828125, 87.978515625, 101.689453125, -3.8671875, 39 ]
[ 9.140625, 133.2421875, 102.65625, 96.328125, 0.966796875, 39.124088287353516 ]
3.233333
97
0
97
0
[ 8.525390625, 124.716796875, 84.0234375, 103.0078125, -4.921875, 39 ]
[ 9.140625, 130.869140625, 98.7890625, 98.173828125, -0.703125, 39.124088287353516 ]
3.266667
98
0
98
0
[ 8.525390625, 122.958984375, 80.595703125, 103.7109375, -5.625, 39 ]
[ 8.96484375, 128.408203125, 94.921875, 99.84375, -2.28515625, 39.124088287353516 ]
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": 10,
    "total_frames": 6458,
    "total_tasks": 1,
    "total_videos": 20,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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": [
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            ],
            "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.wrist": {
            "dtype": "video",
            "shape": [
                1080,
                1920,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "info": {
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                "video.width": 1920,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
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                1920,
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            "names": [
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                "width",
                "channels"
            ],
            "info": {
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                "video.width": 1920,
                "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",
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                1
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            "names": null
        },
        "episode_index": {
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            ],
            "names": null
        },
        "index": {
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                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Size of downloaded dataset files:
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Number of rows:
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