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Datasets:
tenkau
/
SO101-Stack3Blocks

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so101
SociableRoboticsLab
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
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sequence
observation.state
sequence
timestamp
float32
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59.7
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int64
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[ 6.328125, 159.345703125, 140.44921875, 41.1328125, 0.263671875, 0.6671608686447144 ]
2.4
72
0
72
0
[ 10.986328125, 151.875, 129.990234375, 40.078125, -3.69140625, 0.2425222396850586 ]
[ 7.55859375, 157.67578125, 138.33984375, 41.1328125, -0.439453125, 0.6671608686447144 ]
2.433333
73
0
73
0
[ 12.3046875, 150.380859375, 128.84765625, 40.078125, -5.537109375, 0.32336297631263733 ]
[ 8.525390625, 155.7421875, 136.40625, 41.1328125, -1.40625, 0.6671608686447144 ]
2.466667
74
0
74
0
[ 13.359375, 149.150390625, 128.14453125, 40.078125, -8.701171875, 0.32336297631263733 ]
[ 9.4921875, 154.072265625, 134.6484375, 41.1328125, -2.373046875, 0.6671608686447144 ]
2.5
75
0
75
0
[ 14.4140625, 148.18359375, 127.529296875, 40.078125, -13.0078125, 0.32336297631263733 ]
[ 10.72265625, 152.314453125, 133.2421875, 41.1328125, -3.779296875, 0.6671608686447144 ]
2.533333
76
0
76
0
[ 15.1171875, 147.041015625, 126.826171875, 40.078125, -17.666015625, 0.32336297631263733 ]
[ 11.689453125, 151.083984375, 132.1875, 41.1328125, -5.712890625, 0.6671608686447144 ]
2.566667
77
0
77
0
[ 15.908203125, 145.8984375, 126.03515625, 40.078125, -22.763671875, 0.32336297631263733 ]
[ 12.919921875, 149.765625, 131.30859375, 41.1328125, -8.4375, 0.6671608686447144 ]
2.6
78
0
78
0
[ 17.138671875, 144.4921875, 124.98046875, 40.078125, -26.89453125, 0.32336297631263733 ]
[ 13.88671875, 148.53515625, 130.4296875, 41.1328125, -11.77734375, 0.6671608686447144 ]
2.633333
79
0
79
0
[ 18.544921875, 142.998046875, 123.837890625, 40.166015625, -29.970703125, 0.32336297631263733 ]
[ 14.765625, 147.3046875, 129.638671875, 41.1328125, -15.380859375, 0.6671608686447144 ]
2.666667
80
0
80
0
[ 19.599609375, 141.328125, 122.51953125, 40.60546875, -34.1015625, 0.32336297631263733 ]
[ 15.556640625, 145.8984375, 128.583984375, 41.1328125, -19.775390625, 0.6671608686447144 ]
2.7
81
0
81
0
[ 20.654296875, 139.833984375, 121.376953125, 40.95703125, -38.408203125, 0 ]
[ 16.69921875, 144.4921875, 127.529296875, 41.1328125, -23.291015625, 0.6671608686447144 ]
2.733333
82
0
82
0
[ 22.1484375, 138.69140625, 120.234375, 41.748046875, -40.869140625, 0.32336297631263733 ]
[ 17.841796875, 143.0859375, 126.38671875, 41.1328125, -27.158203125, 0.6671608686447144 ]
2.766667
83
0
83
0
[ 23.818359375, 137.724609375, 119.443359375, 41.220703125, -40.95703125, 0.7275667190551758 ]
[ 19.423828125, 141.50390625, 125.244140625, 41.1328125, -31.025390625, 0.6671608686447144 ]
2.8
84
0
84
0
[ 25.048828125, 136.494140625, 118.388671875, 40.341796875, -41.8359375, 1.4551334381103516 ]
[ 20.478515625, 140.185546875, 124.189453125, 41.30859375, -34.716796875, 0.6671608686447144 ]
2.833333
85
0
85
0
[ 25.83984375, 135.439453125, 117.509765625, 40.341796875, -44.384765625, 3.476151943206787 ]
[ 21.796875, 138.8671875, 123.22265625, 41.30859375, -37.001953125, 0.7412898540496826 ]
2.866667
86
0
86
0
[ 26.3671875, 134.560546875, 116.806640625, 40.517578125, -45.966796875, 5.335488796234131 ]
[ 22.8515625, 137.724609375, 122.255859375, 41.1328125, -38.759765625, 0.9636768102645874 ]
2.9
87
0
87
0
[ 26.630859375, 133.505859375, 116.015625, 41.044921875, -47.548828125, 7.113985538482666 ]
[ 24.08203125, 136.58203125, 121.11328125, 41.1328125, -40.693359375, 1.5567086935043335 ]
2.933333
88
0
88
0
[ 26.806640625, 132.36328125, 115.224609375, 42.099609375, -49.833984375, 9.458366394042969 ]
[ 25.224609375, 135.52734375, 120.41015625, 41.1328125, -42.802734375, 3.2616753578186035 ]
2.966667
89
0
89
0
[ 27.0703125, 131.044921875, 114.2578125, 43.2421875, -51.591796875, 11.236863136291504 ]
[ 26.015625, 134.47265625, 119.53125, 41.220703125, -44.82421875, 4.966641902923584 ]
3
90
0
90
0
[ 27.158203125, 129.462890625, 113.37890625, 44.6484375, -53.7890625, 12.93451976776123 ]
[ 26.279296875, 133.41796875, 118.740234375, 41.748046875, -46.669921875, 6.6716084480285645 ]
3.033333
91
0
91
0
[ 27.333984375, 127.880859375, 112.67578125, 45.791015625, -55.986328125, 13.338722229003906 ]
[ 26.3671875, 132.1875, 117.861328125, 42.5390625, -48.603515625, 8.598962783813477 ]
3.066667
92
0
92
0
[ 27.333984375, 126.2109375, 111.97265625, 47.28515625, -58.447265625, 13.662086486816406 ]
[ 26.279296875, 130.60546875, 116.806640625, 43.76953125, -50.9765625, 10.452186584472656 ]
3.1
93
0
93
0
[ 27.333984375, 124.541015625, 111.181640625, 48.515625, -60.205078125, 14.308812141418457 ]
[ 26.455078125, 129.287109375, 116.19140625, 44.6484375, -52.822265625, 11.415863990783691 ]
3.133333
94
0
94
0
[ 27.333984375, 122.958984375, 110.390625, 49.74609375, -61.5234375, 15.52142333984375 ]
[ 26.806640625, 127.6171875, 115.3125, 45.703125, -55.01953125, 12.231282234191895 ]
3.166667
95
0
95
0
[ 27.333984375, 121.376953125, 109.248046875, 50.888671875, -62.40234375, 18.350849151611328 ]
[ 27.333984375, 126.123046875, 114.609375, 47.021484375, -57.041015625, 13.046701431274414 ]
3.2
96
0
96
0
[ 27.333984375, 119.794921875, 108.193359375, 51.416015625, -62.578125, 23.120452880859375 ]
[ 27.421875, 124.453125, 113.818359375, 48.251953125, -58.974609375, 14.158636093139648 ]
3.233333
97
0
97
0
[ 27.333984375, 118.212890625, 107.2265625, 51.416015625, -62.578125, 28.05173683166504 ]
[ 27.421875, 122.783203125, 112.8515625, 49.482421875, -60.205078125, 15.715344429016113 ]
3.266667
98
0
98
0
[ 27.421875, 116.71875, 106.435546875, 51.416015625, -62.578125, 32.740501403808594 ]
[ 27.158203125, 121.11328125, 111.884765625, 50.185546875, -60.99609375, 18.383989334106445 ]
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": 14967,
    "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": {
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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": {
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            "shape": [
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        },
        "timestamp": {
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            "names": null
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        }
    }
}

Citation

BibTeX:

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License:
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Size of downloaded dataset files:
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