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Datasets:
L7-Robotics
/
so101_2cam_red_cube_v2_20fps

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
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pandas
Polars
License:
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action
list
observation.state
list
timestamp
float32
0
49.1
frame_index
int64
0
981
episode_index
int64
0
29
index
int64
0
11.3k
task_index
int64
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2.75
55
0
55
0
[ -9.09890079498291, -102.68132019042969, 80.70330047607422, 73.71428680419922, -0.04395604506134987, 0.3252032399177551 ]
[ -9.89011001586914, -96.52747344970703, 85.75823974609375, 74.19779968261719, -0.1318681389093399, 0.8064516186714172 ]
2.8
56
0
56
0
[ -8.923076629638672, -102.68132019042969, 79.29669952392578, 73.71428680419922, -0.04395604506134987, 0.3252032399177551 ]
[ -9.450549125671387, -96.52747344970703, 84.79120635986328, 74.19779968261719, -0.1318681389093399, 0.8064516186714172 ]
2.85
57
0
57
0
[ -8.835165023803711, -102.68132019042969, 78.06593322753906, 73.71428680419922, -0.04395604506134987, 0.3252032399177551 ]
[ -9.538461685180664, -96.52747344970703, 83.56044006347656, 74.19779968261719, -0.1318681389093399, 0.8064516186714172 ]
2.9
58
0
58
0
[ -8.835165023803711, -102.68132019042969, 76.92308044433594, 73.71428680419922, -0.04395604506134987, 0.3252032399177551 ]
[ -9.274724960327148, -96.52747344970703, 82.15384674072266, 74.19779968261719, -0.1318681389093399, 0.8064516186714172 ]
2.95
59
0
59
0
[ -8.835165023803711, -102.68132019042969, 75.42857360839844, 73.71428680419922, -0.04395604506134987, 0.3252032399177551 ]
[ -9.09890079498291, -96.52747344970703, 80.92308044433594, 74.19779968261719, -0.1318681389093399, 0.8064516186714172 ]
3
60
0
60
0
[ -8.835165023803711, -102.68132019042969, 73.84615325927734, 73.71428680419922, -0.04395604506134987, 0.3252032399177551 ]
[ -9.09890079498291, -96.52747344970703, 79.6043930053711, 74.19779968261719, -0.1318681389093399, 0.8064516186714172 ]
3.05
61
0
61
0
[ -8.835165023803711, -102.68132019042969, 72.35164642333984, 73.71428680419922, -0.04395604506134987, 0.3252032399177551 ]
[ -9.09890079498291, -96.52747344970703, 78.19779968261719, 74.19779968261719, -0.1318681389093399, 0.8064516186714172 ]
3.1
62
0
62
0
[ -8.835165023803711, -102.68132019042969, 70.85713958740234, 73.71428680419922, -0.04395604506134987, 0.3252032399177551 ]
[ -9.09890079498291, -96.52747344970703, 76.70330047607422, 74.19779968261719, -0.1318681389093399, 0.8064516186714172 ]
3.15
63
0
63
0
[ -8.835165023803711, -102.68132019042969, 69.45054626464844, 73.71428680419922, -0.04395604506134987, 0.3252032399177551 ]
[ -9.09890079498291, -96.52747344970703, 75.20879364013672, 74.19779968261719, -0.1318681389093399, 0.8064516186714172 ]
3.2
64
0
64
0
[ -8.835165023803711, -102.68132019042969, 67.95604705810547, 73.71428680419922, -0.04395604506134987, 0.3252032399177551 ]
[ -9.09890079498291, -96.52747344970703, 73.62637329101562, 74.19779968261719, -0.1318681389093399, 0.8064516186714172 ]
3.25
65
0
65
0
[ -9.01098918914795, -102.68132019042969, 66.63735961914062, 73.80220031738281, -0.04395604506134987, 0.3252032399177551 ]
[ -9.09890079498291, -96.52747344970703, 72.21977996826172, 74.19779968261719, -0.1318681389093399, 0.8064516186714172 ]
3.3
66
0
66
0
[ -9.09890079498291, -102.5934066772461, 65.4945068359375, 73.80220031738281, 0.04395604506134987, 0.3252032399177551 ]
[ -9.09890079498291, -96.52747344970703, 70.72527313232422, 74.19779968261719, -0.1318681389093399, 0.8064516186714172 ]
3.35
67
0
67
0
[ -9.09890079498291, -101.80220031738281, 64.43955993652344, 73.97801971435547, 0.04395604506134987, 0.3252032399177551 ]
[ -9.09890079498291, -96.52747344970703, 69.23076629638672, 74.19779968261719, -0.1318681389093399, 0.8064516186714172 ]
3.4
68
0
68
0
[ -9.09890079498291, -99.95604705810547, 62.85714340209961, 75.12088012695312, 0.04395604506134987, 0.3252032399177551 ]
[ -9.09890079498291, -96.52747344970703, 68, 74.19779968261719, -0.1318681389093399, 0.8064516186714172 ]
3.45
69
0
69
0
[ -9.09890079498291, -97.14286041259766, 61.010990142822266, 76.70330047607422, 0.04395604506134987, 0.3252032399177551 ]
[ -9.09890079498291, -96.52747344970703, 66.76923370361328, 74.28571319580078, -0.1318681389093399, 0.8064516186714172 ]
3.5
70
0
70
0
[ -8.923076629638672, -93.71428680419922, 58.72527313232422, 77.67032623291016, 0.04395604506134987, 0.3252032399177551 ]
[ -9.09890079498291, -96.52747344970703, 65.36264038085938, 75.07691955566406, -0.1318681389093399, 0.8064516186714172 ]
3.55
71
0
71
0
[ -8.835165023803711, -90.02198028564453, 56.17582321166992, 78.19779968261719, -0.1318681389093399, 0.3252032399177551 ]
[ -9.09890079498291, -96.43955993652344, 63.60439682006836, 76.30769348144531, -0.1318681389093399, 0.8064516186714172 ]
3.6
72
0
72
0
[ -8.835165023803711, -86.32967376708984, 53.4505500793457, 78.19779968261719, -0.3076923191547394, 0.3252032399177551 ]
[ -9.09890079498291, -94.85713958740234, 61.31867980957031, 77.27472686767578, -0.1318681389093399, 0.8064516186714172 ]
3.65
73
0
73
0
[ -8.835165023803711, -82.63735961914062, 50.63736343383789, 78.19779968261719, -0.3076923191547394, 0.3252032399177551 ]
[ -9.09890079498291, -92.13186645507812, 58.94505310058594, 77.71428680419922, -0.1318681389093399, 0.8064516186714172 ]
3.7
74
0
74
0
[ -8.835165023803711, -79.03296661376953, 47.736263275146484, 78.19779968261719, -0.3076923191547394, 0.3252032399177551 ]
[ -9.01098918914795, -88.96703338623047, 56.483516693115234, 77.97801971435547, -0.1318681389093399, 0.8064516186714172 ]
3.75
75
0
75
0
[ -8.835165023803711, -75.42857360839844, 45.010990142822266, 78.19779968261719, -0.3956044018268585, 0.3252032399177551 ]
[ -9.09890079498291, -85.45054626464844, 53.67033004760742, 77.97801971435547, -0.1318681389093399, 0.8064516186714172 ]
3.8
76
0
76
0
[ -8.835165023803711, -71.9120864868164, 42.5494499206543, 78.19779968261719, -0.3956044018268585, 0.3252032399177551 ]
[ -9.01098918914795, -81.93406677246094, 50.85714340209961, 77.97801971435547, -0.1318681389093399, 0.8064516186714172 ]
3.85
77
0
77
0
[ -8.835165023803711, -68.48351287841797, 40.263736724853516, 78.19779968261719, -0.3956044018268585, 0.3252032399177551 ]
[ -9.09890079498291, -78.32967376708984, 48.131866455078125, 77.97801971435547, -0.1318681389093399, 0.8064516186714172 ]
3.9
78
0
78
0
[ -8.835165023803711, -65.23076629638672, 37.80219650268555, 78.10989379882812, -0.1318681389093399, 0.3252032399177551 ]
[ -9.09890079498291, -74.81318664550781, 45.67033004760742, 77.97801971435547, -0.1318681389093399, 0.8064516186714172 ]
3.95
79
0
79
0
[ -8.835165023803711, -62.241756439208984, 35.42856979370117, 78.19779968261719, -0.04395604506134987, 0.3252032399177551 ]
[ -9.09890079498291, -71.29669952392578, 43.29670333862305, 77.97801971435547, -0.1318681389093399, 0.8064516186714172 ]
4
80
0
80
0
[ -8.835165023803711, -59.340660095214844, 33.230770111083984, 78.10989379882812, -0.04395604506134987, 0.3252032399177551 ]
[ -9.09890079498291, -67.78022003173828, 40.83516311645508, 77.97801971435547, -0.1318681389093399, 0.8064516186714172 ]
4.05
81
0
81
0
[ -8.923076629638672, -56.61538314819336, 31.120878219604492, 78.10989379882812, -0.04395604506134987, 0.3252032399177551 ]
[ -9.09890079498291, -64.70330047607422, 38.63736343383789, 77.97801971435547, -0.1318681389093399, 0.8064516186714172 ]
4.1
82
0
82
0
[ -8.923076629638672, -54.06593322753906, 29.27472496032715, 78.10989379882812, 0.04395604506134987, 0.3252032399177551 ]
[ -9.01098918914795, -61.626373291015625, 36.263736724853516, 77.97801971435547, -0.1318681389093399, 0.8064516186714172 ]
4.15
83
0
83
0
[ -8.835165023803711, -51.78022003173828, 28.043956756591797, 78.19779968261719, 0.04395604506134987, 0.3252032399177551 ]
[ -9.01098918914795, -58.63736343383789, 34.153846740722656, 77.97801971435547, -0.1318681389093399, 0.8064516186714172 ]
4.2
84
0
84
0
[ -8.835165023803711, -50.10988998413086, 27.340660095214844, 78.19779968261719, 0.04395604506134987, 0.3252032399177551 ]
[ -9.01098918914795, -56.087913513183594, 32.131866455078125, 77.97801971435547, -0.1318681389093399, 0.8064516186714172 ]
4.25
85
0
85
0
[ -8.835165023803711, -48.79121017456055, 26.989011764526367, 78.10989379882812, 0.04395604506134987, 0.3252032399177551 ]
[ -9.01098918914795, -53.53845977783203, 30.72527503967285, 77.97801971435547, -0.1318681389093399, 0.8064516186714172 ]
4.3
86
0
86
0
[ -8.835165023803711, -47.82417678833008, 26.989011764526367, 77.84615325927734, 0.04395604506134987, 0.3252032399177551 ]
[ -9.01098918914795, -51.516483306884766, 29.846153259277344, 77.97801971435547, -0.1318681389093399, 0.8064516186714172 ]
4.35
87
0
87
0
[ -8.835165023803711, -46.94505310058594, 26.989011764526367, 78.02198028564453, 0.04395604506134987, 0.3252032399177551 ]
[ -9.01098918914795, -49.846153259277344, 29.318681716918945, 77.97801971435547, -0.1318681389093399, 0.8064516186714172 ]
4.4
88
0
88
0
[ -8.835165023803711, -46.41758346557617, 27.340660095214844, 78.10989379882812, 0.04395604506134987, 0.3252032399177551 ]
[ -9.01098918914795, -48.35165023803711, 29.230770111083984, 77.97801971435547, -0.1318681389093399, 0.8064516186714172 ]
4.45
89
0
89
0
[ -8.835165023803711, -45.89011001586914, 27.69230842590332, 78.19779968261719, 0.04395604506134987, 0.3252032399177551 ]
[ -9.01098918914795, -47.38461685180664, 29.14285659790039, 77.97801971435547, -0.1318681389093399, 0.8064516186714172 ]
4.5
90
0
90
0
[ -8.835165023803711, -45.36263656616211, 27.78022003173828, 78.19779968261719, 0.04395604506134987, 0.3252032399177551 ]
[ -9.01098918914795, -46.85714340209961, 29.14285659790039, 77.97801971435547, -0.1318681389093399, 0.8064516186714172 ]
4.55
91
0
91
0
[ -8.835165023803711, -44.83516311645508, 27.78022003173828, 78.28571319580078, 0.04395604506134987, 0.3252032399177551 ]
[ -9.09890079498291, -46.153846740722656, 29.14285659790039, 77.97801971435547, -0.1318681389093399, 0.8064516186714172 ]
4.6
92
0
92
0
[ -8.747252464294434, -44.30769348144531, 27.78022003173828, 78.63735961914062, 0.04395604506134987, 0.4065040647983551 ]
[ -9.09890079498291, -45.53845977783203, 29.14285659790039, 77.97801971435547, -0.1318681389093399, 0.8064516186714172 ]
4.65
93
0
93
0
[ -8.747252464294434, -43.69230651855469, 27.78022003173828, 79.69230651855469, 0.04395604506134987, 0.4065040647983551 ]
[ -9.09890079498291, -45.010990142822266, 29.14285659790039, 78.06593322753906, -0.1318681389093399, 0.8064516186714172 ]
4.7
94
0
94
0
[ -8.747252464294434, -43.07692337036133, 27.78022003173828, 80.74725341796875, 0.04395604506134987, 0.4065040647983551 ]
[ -9.09890079498291, -44.483516693115234, 29.14285659790039, 78.68132019042969, -0.1318681389093399, 0.8064516186714172 ]
4.75
95
0
95
0
[ -8.747252464294434, -42.373626708984375, 27.78022003173828, 81.71428680419922, 0.04395604506134987, 0.4878048896789551 ]
[ -9.09890079498291, -43.78022003173828, 29.14285659790039, 79.47252655029297, -0.1318681389093399, 0.8064516186714172 ]
4.8
96
0
96
0
[ -8.747252464294434, -41.67033004760742, 27.78022003173828, 82.32967376708984, 0.04395604506134987, 0.5691056847572327 ]
[ -9.09890079498291, -43.16483688354492, 29.14285659790039, 80.43955993652344, -0.1318681389093399, 0.8064516186714172 ]
4.85
97
0
97
0
[ -8.747252464294434, -40.879119873046875, 27.516483306884766, 83.12088012695312, 0.04395604506134987, 2.195122003555298 ]
[ -9.09890079498291, -42.5494499206543, 29.14285659790039, 81.31867980957031, -0.1318681389093399, 0.8064516186714172 ]
4.9
98
0
98
0
[ -8.747252464294434, -40.17582321166992, 27.076923370361328, 83.9120864868164, 0.04395604506134987, 6.5853657722473145 ]
[ -9.09890079498291, -41.846153259277344, 29.14285659790039, 82.02198028564453, -0.1318681389093399, 0.9408602118492126 ]
4.95
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "so_follower",
    "total_episodes": 30,
    "total_frames": 11288,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:30"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.images.top": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
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            "names": [
                "height",
                "width",
                "channels"
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            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.rear": {
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            "names": [
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            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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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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        "task_index": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Number of rows:
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Total file size:
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