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Datasets:
L7-Robotics
/
so101_2cam_red_cube_20fps_v3

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
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float32
0
24.8
frame_index
int64
0
496
episode_index
int64
0
29
index
int64
0
11.1k
task_index
int64
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[ -8.131868362426758, -96.35164642333984, 81.80220031738281, 73.93406677246094, 3.5604395866394043, 14.24731159210205 ]
2.85
57
0
57
0
[ -8.395604133605957, -103.20879364013672, 76.3956069946289, 73.71428680419922, 3.384615421295166, 15.12195110321045 ]
[ -8.131868362426758, -96.35164642333984, 81.010986328125, 73.93406677246094, 3.5604395866394043, 14.583333015441895 ]
2.9
58
0
58
0
[ -8.395604133605957, -101.97801971435547, 74.989013671875, 73.53845977783203, 3.384615421295166, 15.12195110321045 ]
[ -8.131868362426758, -96.35164642333984, 80.13186645507812, 73.93406677246094, 3.5604395866394043, 14.717741966247559 ]
2.95
59
0
59
0
[ -8.395604133605957, -99.42857360839844, 73.31867980957031, 73.45054626464844, 3.384615421295166, 15.12195110321045 ]
[ -8.131868362426758, -96.35164642333984, 79.16483306884766, 73.93406677246094, 3.5604395866394043, 14.852150917053223 ]
3
60
0
60
0
[ -8.395604133605957, -95.64835357666016, 71.20879364013672, 73.36264038085938, 3.384615421295166, 15.12195110321045 ]
[ -8.131868362426758, -96.35164642333984, 77.84615325927734, 73.93406677246094, 3.5604395866394043, 14.852150917053223 ]
3.05
61
0
61
0
[ -8.395604133605957, -90.989013671875, 68.57142639160156, 73.27472686767578, 3.384615421295166, 15.12195110321045 ]
[ -8.131868362426758, -96.35164642333984, 76.43955993652344, 73.93406677246094, 3.5604395866394043, 14.852150917053223 ]
3.1
62
0
62
0
[ -8.395604133605957, -85.80220031738281, 65.31867980957031, 73.18681335449219, 3.384615421295166, 15.12195110321045 ]
[ -8.131868362426758, -96, 74.5054931640625, 73.93406677246094, 3.5604395866394043, 14.852150917053223 ]
3.15
63
0
63
0
[ -8.395604133605957, -80.43955993652344, 62.153846740722656, 72.48351287841797, 3.384615421295166, 15.12195110321045 ]
[ -8.131868362426758, -93.80220031738281, 71.95604705810547, 73.93406677246094, 3.5604395866394043, 14.852150917053223 ]
3.2
64
0
64
0
[ -7.956043720245361, -74.63735961914062, 58.989009857177734, 71.51648712158203, 3.384615421295166, 15.12195110321045 ]
[ -8.219779968261719, -89.67032623291016, 69.05494689941406, 73.75823974609375, 3.5604395866394043, 14.852150917053223 ]
3.25
65
0
65
0
[ -7.780219554901123, -68.92308044433594, 56.17582321166992, 70.54945373535156, 3.384615421295166, 15.12195110321045 ]
[ -8.219779968261719, -84.92308044433594, 66.15384674072266, 73.14286041259766, 3.5604395866394043, 14.852150917053223 ]
3.3
66
0
66
0
[ -7.780219554901123, -63.56044006347656, 53.27472686767578, 70.28571319580078, 3.384615421295166, 15.12195110321045 ]
[ -8.219779968261719, -79.73626708984375, 63.07692337036133, 72.26373291015625, 3.5604395866394043, 14.852150917053223 ]
3.35
67
0
67
0
[ -7.780219554901123, -58.63736343383789, 50.5494499206543, 70.10989379882812, 3.296703338623047, 15.12195110321045 ]
[ -8.131868362426758, -74.19779968261719, 60.087913513183594, 71.47252655029297, 3.5604395866394043, 14.852150917053223 ]
3.4
68
0
68
0
[ -7.780219554901123, -54.32966995239258, 48.263736724853516, 70.10989379882812, 3.296703338623047, 15.12195110321045 ]
[ -8.219779968261719, -68.57142639160156, 57.18681335449219, 71.03296661376953, 3.5604395866394043, 14.852150917053223 ]
3.45
69
0
69
0
[ -7.780219554901123, -50.5494499206543, 46.41758346557617, 70.10989379882812, 3.296703338623047, 15.12195110321045 ]
[ -8.131868362426758, -63.20878982543945, 54.46154022216797, 70.85713958740234, 3.5604395866394043, 14.852150917053223 ]
3.5
70
0
70
0
[ -7.516483306884766, -47.03296661376953, 45.098899841308594, 70.10989379882812, 3.296703338623047, 15.12195110321045 ]
[ -8.131868362426758, -58.19780349731445, 52, 70.76923370361328, 3.5604395866394043, 14.852150917053223 ]
3.55
71
0
71
0
[ -6.8131866455078125, -44.0439567565918, 44.131866455078125, 70.10989379882812, 3.296703338623047, 15.12195110321045 ]
[ -8.131868362426758, -53.89011001586914, 49.978023529052734, 70.76923370361328, 3.5604395866394043, 14.852150917053223 ]
3.6
72
0
72
0
[ -6.549450397491455, -41.230770111083984, 43.25274658203125, 70.37362670898438, 3.296703338623047, 15.12195110321045 ]
[ -7.956043720245361, -49.58241653442383, 48.57143020629883, 70.76923370361328, 3.5604395866394043, 14.852150917053223 ]
3.65
73
0
73
0
[ -6.02197790145874, -38.68132019042969, 42.5494499206543, 71.07691955566406, 3.296703338623047, 15.203251838684082 ]
[ -7.340659141540527, -46.153846740722656, 47.340660095214844, 70.76923370361328, 3.5604395866394043, 14.852150917053223 ]
3.7
74
0
74
0
[ -5.846153736114502, -36.30769348144531, 41.4945068359375, 72.65933990478516, 3.384615421295166, 15.934959411621094 ]
[ -6.989010810852051, -43.07692337036133, 46.19780349731445, 70.85713958740234, 3.5604395866394043, 14.852150917053223 ]
3.75
75
0
75
0
[ -5.758241653442383, -34.10988998413086, 40.087913513183594, 74.24176025390625, 3.472527503967285, 20.650405883789062 ]
[ -6.549450397491455, -40.43955993652344, 45.31867980957031, 71.20879364013672, 3.5604395866394043, 15.053763389587402 ]
3.8
76
0
76
0
[ -5.406593322753906, -32.17582321166992, 38.593406677246094, 75.82417297363281, 3.6483516693115234, 28.536584854125977 ]
[ -6.285714149475098, -37.89011001586914, 44.263736724853516, 72.43955993652344, 3.5604395866394043, 15.658601760864258 ]
3.85
77
0
77
0
[ -4.9670329093933105, -30.505495071411133, 37.18681335449219, 77.67032623291016, 3.6483516693115234, 34.5528450012207 ]
[ -6.373626232147217, -35.516483306884766, 42.94505310058594, 73.67032623291016, 3.5604395866394043, 18.212366104125977 ]
3.9
78
0
78
0
[ -4.439560413360596, -29.098901748657227, 35.9560432434082, 79.42857360839844, 3.6483516693115234, 36.504066467285156 ]
[ -5.846153736114502, -33.406593322753906, 41.626373291015625, 75.07691955566406, 3.5604395866394043, 22.91666603088379 ]
3.95
79
0
79
0
[ -4.263736248016357, -27.69230842590332, 34.989009857177734, 80.48351287841797, 3.6483516693115234, 36.585365295410156 ]
[ -5.230769157409668, -31.47252655029297, 40.21977996826172, 76.83516693115234, 3.5604395866394043, 28.293010711669922 ]
4
80
0
80
0
[ -4.087912082672119, -26.10988998413086, 34.46154022216797, 81.0988998413086, 3.6483516693115234, 36.585365295410156 ]
[ -4.879120826721191, -29.89011001586914, 38.989009857177734, 78.4175796508789, 3.5604395866394043, 32.52688217163086 ]
4.05
81
0
81
0
[ -4.087912082672119, -24.351648330688477, 34.28571319580078, 81.36264038085938, 3.6483516693115234, 36.585365295410156 ]
[ -4.791208744049072, -28.30769157409668, 37.846153259277344, 79.64835357666016, 3.5604395866394043, 34.274192810058594 ]
4.1
82
0
82
0
[ -4.175824165344238, -22.41758155822754, 34.63736343383789, 81.0988998413086, 3.6483516693115234, 36.585365295410156 ]
[ -4.439560413360596, -26.813186645507812, 37.230770111083984, 80.43955993652344, 3.5604395866394043, 35.21505355834961 ]
4.15
83
0
83
0
[ -4.087912082672119, -20.395605087280273, 34.63736343383789, 80.3956069946289, 3.5604395866394043, 36.504066467285156 ]
[ -4.263736248016357, -24.96703338623047, 36.96703338623047, 80.61538696289062, 3.5604395866394043, 35.752689361572266 ]
4.2
84
0
84
0
[ -4.087912082672119, -18.373626708984375, 34.63736343383789, 79.07691955566406, 3.5604395866394043, 36.504066467285156 ]
[ -4.439560413360596, -23.208791732788086, 36.879119873046875, 80.61538696289062, 3.5604395866394043, 36.021507263183594 ]
4.25
85
0
85
0
[ -4.087912082672119, -16.351648330688477, 34.901100158691406, 77.67032623291016, 3.5604395866394043, 36.260162353515625 ]
[ -4.439560413360596, -21.010988235473633, 36.879119873046875, 80.35164642333984, 3.5604395866394043, 36.021507263183594 ]
4.3
86
0
86
0
[ -4.087912082672119, -14.417582511901855, 35.07692337036133, 76.0879135131836, 3.2087912559509277, 36.260162353515625 ]
[ -4.351648330688477, -19.076923370361328, 36.879119873046875, 79.29669952392578, 3.5604395866394043, 36.021507263183594 ]
4.35
87
0
87
0
[ -4.087912082672119, -12.659340858459473, 35.07692337036133, 74.4175796508789, 3.1208791732788086, 36.178863525390625 ]
[ -4.263736248016357, -16.96703338623047, 36.879119873046875, 78.15384674072266, 3.5604395866394043, 36.021507263183594 ]
4.4
88
0
88
0
[ -4.087912082672119, -11.076923370361328, 34.989009857177734, 72.65933990478516, 3.384615421295166, 36.178863525390625 ]
[ -4.263736248016357, -15.032966613769531, 36.879119873046875, 76.74725341796875, 3.5604395866394043, 36.021507263183594 ]
4.45
89
0
89
0
[ -4, -9.84615421295166, 34.81318664550781, 71.6043930053711, 3.384615421295166, 36.178863525390625 ]
[ -4.263736248016357, -13.01098918914795, 36.879119873046875, 75.16483306884766, 3.5604395866394043, 36.021507263183594 ]
4.5
90
0
90
0
[ -4.087912082672119, -8.879120826721191, 34.81318664550781, 71.6043930053711, 3.1208791732788086, 36.178863525390625 ]
[ -4.351648330688477, -11.516483306884766, 36.879119873046875, 73.5824203491211, 3.5604395866394043, 36.021507263183594 ]
4.55
91
0
91
0
[ -4.351648330688477, -8.087912559509277, 34.989009857177734, 71.6043930053711, 3.0329670906066895, 36.178863525390625 ]
[ -4.351648330688477, -10.285714149475098, 36.879119873046875, 72.61538696289062, 3.5604395866394043, 36.021507263183594 ]
4.6
92
0
92
0
[ -4.263736248016357, -7.472527503967285, 35.07692337036133, 71.34066009521484, 3.0329670906066895, 36.178863525390625 ]
[ -4.351648330688477, -9.142857551574707, 36.879119873046875, 72.17582702636719, 3.5604395866394043, 36.021507263183594 ]
4.65
93
0
93
0
[ -4.175824165344238, -6.94505500793457, 35.07692337036133, 71.16483306884766, 3.0329670906066895, 36.178863525390625 ]
[ -4.351648330688477, -8.263736724853516, 36.879119873046875, 71.9120864868164, 3.5604395866394043, 36.021507263183594 ]
4.7
94
0
94
0
[ -4.703296661376953, -6.593406677246094, 35.07692337036133, 70.63735961914062, 3.0329670906066895, 36.178863525390625 ]
[ -4.351648330688477, -7.384615421295166, 36.879119873046875, 71.56044006347656, 3.5604395866394043, 36.021507263183594 ]
4.75
95
0
95
0
[ -4.9670329093933105, -6.329670429229736, 35.07692337036133, 69.67032623291016, 2.9450550079345703, 36.178863525390625 ]
[ -4.351648330688477, -6.857142925262451, 36.879119873046875, 71.29669952392578, 3.5604395866394043, 36.021507263183594 ]
4.8
96
0
96
0
[ -5.05494499206543, -6.329670429229736, 35.07692337036133, 68.52747344970703, 2.9450550079345703, 36.178863525390625 ]
[ -4.351648330688477, -6.4175825119018555, 36.879119873046875, 70.68132019042969, 3.5604395866394043, 36.021507263183594 ]
4.85
97
0
97
0
[ -5.406593322753906, -6.329670429229736, 35.07692337036133, 67.38461303710938, 2.681318759918213, 36.178863525390625 ]
[ -4.439560413360596, -6.329670429229736, 36.879119873046875, 69.89010620117188, 3.472527503967285, 36.021507263183594 ]
4.9
98
0
98
0
[ -5.934065818786621, -6.329670429229736, 35.16483688354492, 66.32967376708984, 1.186813235282898, 36.178863525390625 ]
[ -4.615384578704834, -6.329670429229736, 36.879119873046875, 68.92308044433594, 3.384615421295166, 36.021507263183594 ]
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": 11114,
    "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",
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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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        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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