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Datasets:
MarkoBrie
/
so101_banana

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
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Size:
< 1K
Tags:
LeRobot
so101
tutorial
Libraries:
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Dask
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observation.state
sequence
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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[ 1.93359375, 110.126953125, 106.259765625, 65.21484375, -0.263671875, 34.61237335205078 ]
[ -2.63671875, 120.322265625, 112.763671875, 65.7421875, -1.23046875, 33.6700325012207 ]
2.4
72
0
72
0
[ 3.8671875, 108.369140625, 105.99609375, 64.775390625, -0.263671875, 34.69068145751953 ]
[ -1.845703125, 117.685546875, 111.884765625, 65.7421875, -1.23046875, 33.6700325012207 ]
2.433333
73
0
73
0
[ 5.9765625, 107.05078125, 105.46875, 64.775390625, -0.263671875, 34.69068145751953 ]
[ -0.791015625, 115.048828125, 111.181640625, 65.7421875, -1.23046875, 33.6700325012207 ]
2.466667
74
0
74
0
[ 8.0859375, 105.732421875, 104.853515625, 64.775390625, -0.263671875, 34.69068145751953 ]
[ 0.615234375, 112.763671875, 110.478515625, 65.7421875, -1.23046875, 33.6700325012207 ]
2.5
75
0
75
0
[ 10.107421875, 104.501953125, 104.150390625, 64.775390625, -0.439453125, 34.69068145751953 ]
[ 2.109375, 110.478515625, 109.86328125, 65.7421875, -1.23046875, 33.6700325012207 ]
2.533333
76
0
76
0
[ 12.568359375, 103.271484375, 103.18359375, 64.775390625, -0.52734375, 34.69068145751953 ]
[ 4.21875, 108.017578125, 109.16015625, 65.7421875, -1.23046875, 33.6700325012207 ]
2.566667
77
0
77
0
[ 14.4140625, 102.568359375, 102.216796875, 64.775390625, -0.615234375, 34.69068145751953 ]
[ 5.9765625, 106.171875, 108.720703125, 65.654296875, -1.23046875, 33.6700325012207 ]
2.6
78
0
78
0
[ 15.8203125, 101.953125, 101.337890625, 64.775390625, -0.615234375, 34.69068145751953 ]
[ 7.91015625, 104.4140625, 108.369140625, 65.654296875, -1.142578125, 33.6700325012207 ]
2.633333
79
0
79
0
[ 16.875, 101.513671875, 100.1953125, 64.775390625, -0.703125, 34.69068145751953 ]
[ 10.107421875, 102.919921875, 107.9296875, 65.654296875, -1.142578125, 33.6700325012207 ]
2.666667
80
0
80
0
[ 17.75390625, 100.986328125, 98.876953125, 64.775390625, -0.703125, 34.69068145751953 ]
[ 12.3046875, 101.865234375, 106.875, 65.654296875, -1.0546875, 33.6700325012207 ]
2.7
81
0
81
0
[ 17.9296875, 100.72265625, 97.470703125, 65.0390625, -0.703125, 34.69068145751953 ]
[ 13.974609375, 101.337890625, 105.732421875, 65.654296875, -0.966796875, 33.6700325012207 ]
2.733333
82
0
82
0
[ 17.75390625, 100.458984375, 95.9765625, 65.56640625, -0.439453125, 34.69068145751953 ]
[ 15.380859375, 100.72265625, 104.4140625, 65.654296875, -0.966796875, 33.6700325012207 ]
2.766667
83
0
83
0
[ 17.490234375, 100.458984375, 94.833984375, 65.654296875, -0.3515625, 34.69068145751953 ]
[ 16.34765625, 100.37109375, 103.095703125, 65.654296875, -0.966796875, 33.6700325012207 ]
2.8
84
0
84
0
[ 17.05078125, 100.458984375, 93.69140625, 65.654296875, -0.3515625, 34.69068145751953 ]
[ 16.962890625, 100.01953125, 101.77734375, 65.654296875, -0.966796875, 33.6700325012207 ]
2.833333
85
0
85
0
[ 16.5234375, 100.37109375, 92.548828125, 65.654296875, -0.3515625, 34.69068145751953 ]
[ 17.05078125, 99.84375, 100.37109375, 65.654296875, -0.966796875, 33.6700325012207 ]
2.866667
86
0
86
0
[ 15.8203125, 100.283203125, 91.494140625, 65.654296875, -0.52734375, 34.69068145751953 ]
[ 16.962890625, 99.84375, 99.404296875, 65.654296875, -0.966796875, 33.6700325012207 ]
2.9
87
0
87
0
[ 11.25, 93.1640625, 87.275390625, 64.248046875, -0.263671875, 34.69068145751953 ]
[ 15.732421875, 99.66796875, 95.9765625, 65.654296875, -1.0546875, 33.6700325012207 ]
2.933333
88
0
88
0
[ 11.25, 91.318359375, 86.044921875, 63.720703125, -0.17578125, 34.69068145751953 ]
[ 15.732421875, 99.66796875, 95.625, 65.654296875, -1.0546875, 33.6700325012207 ]
2.966667
89
0
89
0
[ 11.25, 89.82421875, 84.55078125, 63.017578125, -0.17578125, 34.69068145751953 ]
[ 15.732421875, 98.96484375, 93.955078125, 65.56640625, -1.0546875, 33.6700325012207 ]
3
90
0
90
0
[ 11.25, 88.330078125, 82.6171875, 63.017578125, -0.17578125, 34.69068145751953 ]
[ 14.853515625, 97.119140625, 92.28515625, 65.0390625, -0.966796875, 33.6700325012207 ]
3.033333
91
0
91
0
[ 11.25, 86.66015625, 80.5078125, 63.017578125, -0.17578125, 34.69068145751953 ]
[ 13.7109375, 94.658203125, 90.52734375, 64.51171875, -0.966796875, 33.6700325012207 ]
3.066667
92
0
92
0
[ 11.25, 84.990234375, 78.310546875, 63.28125, -0.17578125, 34.45575714111328 ]
[ 12.48046875, 91.669921875, 88.41796875, 64.16015625, -1.142578125, 33.6700325012207 ]
3.1
93
0
93
0
[ 11.162109375, 83.671875, 76.2890625, 63.896484375, -0.17578125, 34.45575714111328 ]
[ 11.865234375, 89.384765625, 86.923828125, 63.984375, -1.23046875, 33.6700325012207 ]
3.133333
94
0
94
0
[ 11.07421875, 82.177734375, 74.00390625, 64.951171875, -0.263671875, 34.37744903564453 ]
[ 11.513671875, 86.923828125, 85.078125, 63.80859375, -1.23046875, 33.6700325012207 ]
3.166667
95
0
95
0
[ 10.72265625, 80.859375, 72.24609375, 66.181640625, -0.263671875, 34.37744903564453 ]
[ 11.42578125, 85.078125, 83.3203125, 63.80859375, -1.23046875, 33.6700325012207 ]
3.2
96
0
96
0
[ 9.84375, 79.453125, 70.400390625, 67.939453125, -0.263671875, 34.61237335205078 ]
[ 11.337890625, 83.408203125, 81.38671875, 64.248046875, -1.23046875, 33.6700325012207 ]
3.233333
97
0
97
0
[ 8.876953125, 78.22265625, 68.642578125, 70.048828125, -0.263671875, 34.69068145751953 ]
[ 11.337890625, 81.73828125, 79.453125, 64.951171875, -1.23046875, 33.6700325012207 ]
3.266667
98
0
98
0
[ 7.998046875, 76.9921875, 67.060546875, 72.421875, -0.263671875, 34.69068145751953 ]
[ 11.162109375, 80.244140625, 77.51953125, 65.91796875, -1.142578125, 33.6700325012207 ]
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": 863,
    "total_tasks": 1,
    "total_videos": 2,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
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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": {
        "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": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.laptop": {
            "dtype": "video",
            "shape": [
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                640,
                3
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            "names": [
                "height",
                "width",
                "channels"
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            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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                "has_audio": false
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        },
        "timestamp": {
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            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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        "index": {
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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