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Datasets:
Bapt120
/
so101_cup8

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so101
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
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action
sequence
observation.state
sequence
timestamp
float32
0
14.9
frame_index
int64
0
447
episode_index
int64
0
29
index
int64
0
13.4k
task_index
int64
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[ -5.361328125, 198.017578125, 104.23828125, 96.064453125, 1.494140625, 1.8274853229522705 ]
2.366667
71
0
71
0
[ -4.833984375, 196.259765625, 105.46875, 94.306640625, 1.7578125, 1.121233344078064 ]
[ -5.185546875, 198.017578125, 104.23828125, 96.064453125, 1.494140625, 1.8274853229522705 ]
2.4
72
0
72
0
[ -4.833984375, 195.29296875, 107.2265625, 94.306640625, 1.7578125, 1.121233344078064 ]
[ -5.185546875, 198.017578125, 104.326171875, 96.064453125, 1.494140625, 1.8274853229522705 ]
2.433333
73
0
73
0
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[ -5.185546875, 198.017578125, 104.94140625, 96.064453125, 1.494140625, 1.8274853229522705 ]
2.466667
74
0
74
0
[ -4.833984375, 193.0078125, 110.478515625, 94.21875, 1.845703125, 1.121233344078064 ]
[ -5.185546875, 198.017578125, 105.908203125, 96.064453125, 1.494140625, 1.8274853229522705 ]
2.5
75
0
75
0
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[ -5.09765625, 197.666015625, 107.2265625, 96.064453125, 1.494140625, 1.8274853229522705 ]
2.533333
76
0
76
0
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[ -4.833984375, 197.138671875, 108.544921875, 96.064453125, 1.494140625, 1.8274853229522705 ]
2.566667
77
0
77
0
[ -4.833984375, 190.107421875, 113.818359375, 92.28515625, 1.845703125, 1.121233344078064 ]
[ -4.658203125, 196.259765625, 109.86328125, 95.9765625, 1.494140625, 1.8274853229522705 ]
2.6
78
0
78
0
[ -4.74609375, 189.140625, 114.697265625, 90.52734375, 1.845703125, 1.121233344078064 ]
[ -4.5703125, 195.46875, 111.26953125, 95.537109375, 1.494140625, 1.8274853229522705 ]
2.633333
79
0
79
0
[ -4.482421875, 188.173828125, 115.751953125, 88.330078125, 1.845703125, 1.121233344078064 ]
[ -4.5703125, 194.501953125, 112.5, 94.921875, 1.494140625, 1.8274853229522705 ]
2.666667
80
0
80
0
[ -4.306640625, 186.943359375, 116.630859375, 85.60546875, 1.845703125, 1.121233344078064 ]
[ -4.5703125, 193.53515625, 113.5546875, 93.8671875, 1.494140625, 1.8274853229522705 ]
2.7
81
0
81
0
[ -4.21875, 185.44921875, 117.861328125, 82.79296875, 1.845703125, 0.9810792207717896 ]
[ -4.5703125, 192.568359375, 114.609375, 92.63671875, 1.494140625, 1.8274853229522705 ]
2.733333
82
0
82
0
[ -4.21875, 183.69140625, 119.35546875, 79.716796875, 2.021484375, 0.9810792207717896 ]
[ -4.658203125, 191.6015625, 115.6640625, 90.966796875, 1.494140625, 1.8274853229522705 ]
2.766667
83
0
83
0
[ -4.21875, 181.7578125, 121.2890625, 76.640625, 1.845703125, 0.9810792207717896 ]
[ -4.658203125, 190.37109375, 116.71875, 88.857421875, 1.494140625, 1.8274853229522705 ]
2.8
84
0
84
0
[ -4.21875, 179.912109375, 123.046875, 73.564453125, 1.845703125, 0.9810792207717896 ]
[ -4.74609375, 188.96484375, 117.94921875, 86.66015625, 1.494140625, 1.8274853229522705 ]
2.833333
85
0
85
0
[ -4.21875, 178.2421875, 124.365234375, 70.6640625, 1.845703125, 0.9810792207717896 ]
[ -4.833984375, 187.3828125, 119.35546875, 84.111328125, 1.494140625, 1.8274853229522705 ]
2.866667
86
0
86
0
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[ -5.009765625, 185.625, 121.025390625, 81.474609375, 1.494140625, 1.8274853229522705 ]
2.9
87
0
87
0
[ -4.130859375, 175.517578125, 126.73828125, 65.126953125, 1.7578125, 0.8409250378608704 ]
[ -5.09765625, 183.8671875, 122.51953125, 78.662109375, 1.494140625, 1.8274853229522705 ]
2.933333
88
0
88
0
[ -4.130859375, 174.287109375, 127.529296875, 63.10546875, 1.7578125, 0.7708479166030884 ]
[ -5.09765625, 182.109375, 124.1015625, 75.76171875, 1.494140625, 1.8274853229522705 ]
2.966667
89
0
89
0
[ -4.130859375, 173.232421875, 128.232421875, 60.64453125, 1.7578125, 0.7708479166030884 ]
[ -4.74609375, 180.3515625, 125.595703125, 72.94921875, 1.494140625, 1.8274853229522705 ]
3
90
0
90
0
[ -4.04296875, 172.265625, 129.0234375, 58.18359375, 2.109375, 0.7708479166030884 ]
[ -4.482421875, 178.681640625, 126.9140625, 70.3125, 1.494140625, 1.8274853229522705 ]
3.033333
91
0
91
0
[ -3.69140625, 170.947265625, 129.55078125, 56.337890625, 2.28515625, 0.7708479166030884 ]
[ -4.306640625, 177.1875, 128.056640625, 67.763671875, 1.494140625, 1.8274853229522705 ]
3.066667
92
0
92
0
[ -2.900390625, 169.453125, 130.078125, 54.580078125, 2.28515625, 0.7007708549499512 ]
[ -4.21875, 175.95703125, 129.111328125, 65.302734375, 1.494140625, 1.8274853229522705 ]
3.1
93
0
93
0
[ -1.7578125, 167.431640625, 130.78125, 52.91015625, 2.373046875, 0.7007708549499512 ]
[ -4.21875, 174.55078125, 129.814453125, 62.9296875, 1.494140625, 1.8274853229522705 ]
3.133333
94
0
94
0
[ -0.17578125, 165.41015625, 131.30859375, 51.50390625, 2.373046875, 0.9810792207717896 ]
[ -4.04296875, 173.056640625, 130.4296875, 60.732421875, 1.494140625, 1.8274853229522705 ]
3.166667
95
0
95
0
[ 1.494140625, 163.388671875, 131.396484375, 50.185546875, 2.373046875, 1.121233344078064 ]
[ -3.33984375, 171.474609375, 130.95703125, 58.623046875, 1.494140625, 1.8274853229522705 ]
3.2
96
0
96
0
[ 3.515625, 161.630859375, 131.484375, 48.955078125, 2.373046875, 1.121233344078064 ]
[ -2.28515625, 169.716796875, 131.66015625, 56.77734375, 1.494140625, 1.8274853229522705 ]
3.233333
97
0
97
0
[ 5.625, 159.873046875, 131.484375, 47.98828125, 2.373046875, 1.1913104057312012 ]
[ -1.0546875, 167.6953125, 132.099609375, 55.107421875, 1.494140625, 1.8274853229522705 ]
3.266667
98
0
98
0
[ 7.822265625, 158.466796875, 131.484375, 47.109375, 2.373046875, 1.1913104057312012 ]
[ 0.3515625, 165.498046875, 132.275390625, 53.525390625, 1.494140625, 1.8274853229522705 ]
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": 30,
    "total_frames": 13439,
    "total_tasks": 1,
    "total_videos": 30,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:30"
    },
    "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": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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