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Datasets:
Bapt120
/
so101_cup7

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
so101
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
1
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action
sequence
observation.state
sequence
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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[ 0.87890625, 186.591796875, 136.23046875, 82.353515625, -9.931640625, 1.3157894611358643 ]
2.366667
71
0
71
0
[ 1.318359375, 184.21875, 127.529296875, 81.474609375, -9.931640625, 1.611772894859314 ]
[ 0.87890625, 186.50390625, 135.439453125, 82.353515625, -9.931640625, 1.3157894611358643 ]
2.4
72
0
72
0
[ 1.318359375, 183.515625, 126.650390625, 81.5625, -9.931640625, 1.611772894859314 ]
[ 0.966796875, 186.240234375, 134.296875, 82.353515625, -9.931640625, 1.3157894611358643 ]
2.433333
73
0
73
0
[ 1.318359375, 182.28515625, 125.947265625, 81.5625, -9.931640625, 1.611772894859314 ]
[ 0.966796875, 185.888671875, 133.154296875, 82.353515625, -9.931640625, 1.3157894611358643 ]
2.466667
74
0
74
0
[ 1.318359375, 180.791015625, 125.244140625, 81.474609375, -9.931640625, 1.611772894859314 ]
[ 0.966796875, 185.537109375, 132.01171875, 82.353515625, -9.931640625, 1.3157894611358643 ]
2.5
75
0
75
0
[ 1.318359375, 179.12109375, 124.62890625, 81.474609375, -9.931640625, 1.611772894859314 ]
[ 0.966796875, 184.921875, 130.95703125, 82.353515625, -9.931640625, 1.3157894611358643 ]
2.533333
76
0
76
0
[ 1.318359375, 177.451171875, 123.662109375, 81.474609375, -9.931640625, 1.6818500757217407 ]
[ 0.966796875, 183.955078125, 130.078125, 82.353515625, -9.931640625, 1.3157894611358643 ]
2.566667
77
0
77
0
[ 1.318359375, 175.78125, 122.6953125, 81.474609375, -9.755859375, 1.6818500757217407 ]
[ 0.87890625, 182.8125, 129.287109375, 82.353515625, -9.931640625, 1.3157894611358643 ]
2.6
78
0
78
0
[ 1.318359375, 173.935546875, 121.640625, 81.474609375, -9.404296875, 1.6818500757217407 ]
[ 0.87890625, 181.494140625, 128.408203125, 82.353515625, -9.931640625, 1.3157894611358643 ]
2.633333
79
0
79
0
[ 1.318359375, 171.9140625, 120.673828125, 81.474609375, -9.228515625, 1.6818500757217407 ]
[ 0.87890625, 180, 127.529296875, 82.353515625, -9.931640625, 1.3157894611358643 ]
2.666667
80
0
80
0
[ 1.318359375, 169.98046875, 119.794921875, 81.474609375, -9.228515625, 1.6818500757217407 ]
[ 0.87890625, 178.505859375, 126.5625, 82.353515625, -9.931640625, 1.3157894611358643 ]
2.7
81
0
81
0
[ 1.318359375, 167.958984375, 118.916015625, 81.474609375, -9.228515625, 1.6818500757217407 ]
[ 0.87890625, 176.748046875, 125.68359375, 82.353515625, -9.931640625, 1.3157894611358643 ]
2.733333
82
0
82
0
[ 1.40625, 166.025390625, 118.125, 81.474609375, -9.140625, 1.6818500757217407 ]
[ 0.87890625, 174.990234375, 124.8046875, 82.353515625, -9.931640625, 1.3157894611358643 ]
2.766667
83
0
83
0
[ 1.40625, 164.091796875, 117.421875, 81.38671875, -9.140625, 1.6818500757217407 ]
[ 0.87890625, 173.14453125, 123.92578125, 82.353515625, -9.931640625, 1.3157894611358643 ]
2.8
84
0
84
0
[ 1.494140625, 162.333984375, 117.158203125, 81.123046875, -9.052734375, 1.6818500757217407 ]
[ 0.87890625, 171.2109375, 123.046875, 82.353515625, -9.931640625, 1.3157894611358643 ]
2.833333
85
0
85
0
[ 1.669921875, 160.751953125, 116.982421875, 80.244140625, -9.052734375, 1.6818500757217407 ]
[ 0.87890625, 169.27734375, 122.255859375, 82.353515625, -9.931640625, 1.3157894611358643 ]
2.866667
86
0
86
0
[ 2.548828125, 159.345703125, 116.982421875, 78.92578125, -9.052734375, 1.6818500757217407 ]
[ 0.87890625, 167.431640625, 121.640625, 82.353515625, -9.931640625, 1.3157894611358643 ]
2.9
87
0
87
0
[ 4.130859375, 158.02734375, 116.982421875, 77.255859375, -9.052734375, 1.751927137374878 ]
[ 0.87890625, 165.5859375, 121.2890625, 82.177734375, -9.931640625, 1.3157894611358643 ]
2.933333
88
0
88
0
[ 5.888671875, 156.796875, 116.982421875, 75.322265625, -9.052734375, 1.751927137374878 ]
[ 1.318359375, 163.828125, 121.11328125, 81.474609375, -9.931640625, 1.3157894611358643 ]
2.966667
89
0
89
0
[ 7.91015625, 155.56640625, 117.0703125, 73.30078125, -9.052734375, 1.751927137374878 ]
[ 2.197265625, 162.158203125, 120.9375, 80.419921875, -9.931640625, 1.3157894611358643 ]
3
90
0
90
0
[ 9.84375, 154.248046875, 117.158203125, 71.3671875, -9.052734375, 1.751927137374878 ]
[ 3.427734375, 160.6640625, 120.9375, 79.1015625, -9.931640625, 1.3157894611358643 ]
3.033333
91
0
91
0
[ 11.337890625, 152.75390625, 117.158203125, 69.697265625, -9.31640625, 1.751927137374878 ]
[ 4.833984375, 159.08203125, 120.9375, 77.607421875, -9.931640625, 1.3157894611358643 ]
3.066667
92
0
92
0
[ 12.744140625, 151.083984375, 117.158203125, 68.203125, -9.66796875, 1.8220043182373047 ]
[ 6.416015625, 157.587890625, 120.9375, 75.9375, -9.931640625, 1.3157894611358643 ]
3.1
93
0
93
0
[ 13.798828125, 149.23828125, 117.158203125, 66.884765625, -9.755859375, 1.8220043182373047 ]
[ 8.0859375, 156.181640625, 120.9375, 74.35546875, -9.931640625, 1.3157894611358643 ]
3.133333
94
0
94
0
[ 14.501953125, 147.48046875, 117.0703125, 65.830078125, -9.84375, 1.8220043182373047 ]
[ 9.66796875, 154.6875, 120.9375, 72.685546875, -9.931640625, 1.3157894611358643 ]
3.166667
95
0
95
0
[ 14.853515625, 145.8984375, 116.89453125, 65.126953125, -9.84375, 1.8220043182373047 ]
[ 10.986328125, 152.9296875, 120.9375, 71.279296875, -9.931640625, 1.3157894611358643 ]
3.2
96
0
96
0
[ 15.205078125, 144.4921875, 116.71875, 64.51171875, -9.84375, 1.8220043182373047 ]
[ 12.216796875, 151.34765625, 120.9375, 70.13671875, -9.931640625, 1.3157894611358643 ]
3.233333
97
0
97
0
[ 15.380859375, 143.173828125, 116.455078125, 64.248046875, -9.84375, 1.8220043182373047 ]
[ 13.0078125, 149.94140625, 120.9375, 69.08203125, -9.931640625, 1.3157894611358643 ]
3.266667
98
0
98
0
[ 15.46875, 142.20703125, 116.3671875, 63.984375, -9.84375, 1.8920812606811523 ]
[ 13.7109375, 148.447265625, 120.9375, 67.939453125, -9.931640625, 1.3157894611358643 ]
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": 2,
    "total_frames": 897,
    "total_tasks": 1,
    "total_videos": 2,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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": [
                6
            ],
            "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.arm": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "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",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        },
        "index": {
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            "shape": [
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            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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