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Datasets:
RyanPan315464
/
stack_cube_so101

Tasks:
Robotics
Modalities:
Image
Time-series
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
robotics
manipulation
so101
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
Community
1
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observation.images.image
imagewidth (px)
128
128
observation.images.wrist_image
imagewidth (px)
128
128
observation.state
list
action
list
timestamp
float32
0
9.9
frame_index
int64
0
198
episode_index
int64
0
199
index
int64
0
34.6k
task_index
int64
0
0
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2.4
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2.6
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[ -0.09382012486457825, -0.019299015402793884, 0.033250756561756134, 1.556236743927002, -1.3803493976593018, 0.5565533638000488 ]
[ -0.09683007746934891, -0.02019471302628517, 0.03491833060979843, 1.5558606386184692, -1.4165821075439453, 0.6000000238418579 ]
2.65
53
0
53
0
[ -0.09504219889640808, -0.019643817096948624, 0.03390660881996155, 1.5560895204544067, -1.3945860862731934, 0.5586715936660767 ]
[ -0.0975421667098999, -0.020393699407577515, 0.03529799357056618, 1.55577552318573, -1.4248242378234863, 0.6000000238418579 ]
2.7
54
0
54
0
[ -0.09606080502271652, -0.019931776449084282, 0.03445400297641754, 1.5559664964675903, -1.4064685106277466, 0.5606865286827087 ]
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2.75
55
0
55
0
[ -0.09687595814466476, -0.020162876695394516, 0.03489294275641441, 1.5558677911758423, -1.4159966707229614, 0.5626032948493958 ]
[ -0.0983559787273407, -0.02062111161649227, 0.03573189675807953, 1.555678129196167, -1.4342436790466309, 0.6000000238418579 ]
2.8
56
0
56
0
[ -0.0974876880645752, -0.020337101072072983, 0.035223428159952164, 1.5557936429977417, -1.4231702089309692, 0.5644264817237854 ]
[ -0.0984577015042305, -0.020649539306759834, 0.035786133259534836, 1.5556659698486328, -1.435421109199524, 0.6000000238418579 ]
2.85
57
0
57
0
[ -0.09789596498012543, -0.020454484969377518, 0.03544541075825691, 1.55574369430542, -1.4279892444610596, 0.5661609172821045 ]
[ -0.09789596498012543, -0.020454484969377518, 0.03544541075825691, 1.55574369430542, -1.4279892444610596, 0.6000000238418579 ]
2.9
58
0
58
0
[ -0.09793855249881744, -0.02044571563601494, 0.03544739633798599, 1.555743932723999, -1.4280080795288086, 0.5678106546401978 ]
[ -0.09732544422149658, -0.019865987822413445, 0.03609059378504753, 1.554510235786438, -1.428587555885315, 0.6000000238418579 ]
2.95
59
0
59
0
[ -0.09769855439662933, -0.020235035568475723, 0.03569769486784935, 1.5552594661712646, -1.428235411643982, 0.5693800449371338 ]
[ -0.09561389684677124, -0.018100496381521225, 0.038026146590709686, 1.5508098602294922, -1.430382490158081, 0.6000000238418579 ]
3
60
0
60
0
[ -0.0968823954463005, -0.01943967677652836, 0.03660585358738899, 1.553512692451477, -1.4290776252746582, 0.5708728432655334 ]
[ -0.09276130795478821, -0.015158009715378284, 0.04125206917524338, 1.544642686843872, -1.4333739280700684, 0.6000000238418579 ]
3.05
61
0
61
0
[ -0.09526742994785309, -0.01781315542757511, 0.03842158615589142, 1.5500307083129883, -1.4307637214660645, 0.5722929239273071 ]
[ -0.08876768499612808, -0.011038528755307198, 0.04576835781335831, 1.536008596420288, -1.437562108039856, 0.6000000238418579 ]
3.1
62
0
62
0
[ -0.09271892160177231, -0.015211320482194424, 0.041295986622571945, 1.5445265769958496, -1.4334317445755005, 0.5736439228057861 ]
[ -0.08363302797079086, -0.005742053966969252, 0.051575012505054474, 1.5249075889587402, -1.4429467916488647, 0.6000000238418579 ]
3.15
63
0
63
0
[ -0.08915509283542633, -0.011550302617251873, 0.04532045125961304, 1.5368256568908691, -1.4371659755706787, 0.574928879737854 ]
[ -0.07735732942819595, 0.0007314157555811107, 0.05867203697562218, 1.5113396644592285, -1.4495280981063843, 0.6000000238418579 ]
3.2
64
0
64
0
[ -0.084526427090168, -0.00678125349804759, 0.050550226122140884, 1.5268216133117676, -1.4420175552368164, 0.5761511921882629 ]
[ -0.06994060426950455, 0.008381879888474941, 0.06705942749977112, 1.495304822921753, -1.4573060274124146, 0.6000000238418579 ]
3.25
65
0
65
0
[ -0.07880290597677231, -0.0008756006136536598, 0.05701878294348717, 1.5144511461257935, -1.4480177164077759, 0.5773138999938965 ]
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3.3
66
0
66
0
[ -0.07196635007858276, 0.0061832573264837265, 0.06474640965461731, 1.4996739625930786, -1.4551856517791748, 0.578420102596283 ]
[ -0.05168403685092926, 0.027213791385293007, 0.08770532160997391, 1.4558345079421997, -1.4764517545700073, 0.6000000238418579 ]
3.35
67
0
67
0
[ -0.06400572508573532, 0.014405070804059505, 0.07374543696641922, 1.4824669361114502, -1.4635318517684937, 0.5794723033905029 ]
[ -0.04084420204162598, 0.038395240902900696, 0.09996382147073746, 1.432399034500122, -1.4878194332122803, 0.6000000238418579 ]
3.4
68
0
68
0
[ -0.05491435155272484, 0.023795539513230324, 0.08402331918478012, 1.4628149271011353, -1.4730641841888428, 0.5804731845855713 ]
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3.45
69
0
69
0
[ -0.04468817636370659, 0.03435806557536125, 0.09558459371328354, 1.4407098293304443, -1.4837859869003296, 0.5814251899719238 ]
[ -0.01574142836034298, 0.06428911536931992, 0.12835192680358887, 1.3781274557113647, -1.514144778251648, 0.6000000238418579 ]
3.5
70
0
70
0
[ -0.03332475572824478, 0.04609459266066551, 0.10843206197023392, 1.4161462783813477, -1.4957009553909302, 0.5823308229446411 ]
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3.55
71
0
71
0
[ -0.02126862108707428, 0.05857740342617035, 0.12206505984067917, 1.3900885581970215, -1.50834059715271, 0.5831922888755798 ]
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3.6
72
0
72
0
[ -0.009311506524682045, 0.06263522803783417, 0.13655279576778412, 1.3644144535064697, -1.5209391117095947, 0.5840116739273071 ]
[ 0.020201189443469048, 0.10136444866657257, 0.16899852454662323, 1.3004202842712402, -1.5518378019332886, 0.6000000238418579 ]
3.65
73
0
73
0
[ 0.0022149377036839724, 0.056840140372514725, 0.14960572123527527, 1.3396759033203125, -1.5330467224121094, 0.5847911238670349 ]
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3.7
74
0
74
0
[ 0.013095379807054996, 0.06985311955213547, 0.16034533083438873, 1.3158893585205078, -1.5444092750549316, 0.5855328440666199 ]
[ 0.038457758724689484, 0.12019636482000351, 0.18964442610740662, 1.260949969291687, -1.5709835290908813, 0.6000000238418579 ]
3.75
75
0
75
0
[ 0.023060830309987068, 0.09032910317182541, 0.1720021814107895, 1.2943538427352905, -1.5548393726348877, 0.5862381458282471 ]
[ 0.04587448760867119, 0.1278468370437622, 0.19803181290626526, 1.2449151277542114, -1.5787614583969116, 0.6000000238418579 ]
3.8
76
0
76
0
[ 0.03202569857239723, 0.10576174408197403, 0.18237435817718506, 1.274977445602417, -1.5642284154891968, 0.5869090557098389 ]
[ 0.0521501824259758, 0.13432030379772186, 0.20512884855270386, 1.2313472032546997, -1.5853427648544312, 0.6000000238418579 ]
3.85
77
0
77
0
[ 0.03993469104170799, 0.11742926388978958, 0.19139665365219116, 1.2578688859939575, -1.5725157260894775, 0.587547242641449 ]
[ 0.05728484317660332, 0.13961678743362427, 0.21093550324440002, 1.2202461957931519, -1.59072744846344, 0.6000000238418579 ]
3.9
78
0
78
0
[ 0.046754252165555954, 0.1264444887638092, 0.19911882281303406, 1.243111491203308, -1.579663634300232, 0.5881544947624207 ]
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3.95
79
0
79
0
[ 0.05246405303478241, 0.1334504336118698, 0.20556187629699707, 1.230753779411316, -1.585649847984314, 0.5887320041656494 ]
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4
80
0
80
0
[ 0.05705176666378975, 0.13880975544452667, 0.21073085069656372, 1.2208231687545776, -1.5904605388641357, 0.5892813801765442 ]
[ 0.06584260612726212, 0.14844423532485962, 0.2206132560968399, 1.201744556427002, -1.599702000617981, 0.6000000238418579 ]
4.05
81
0
81
0
[ 0.06049809232354164, 0.14271795749664307, 0.21464692056179047, 1.2133493423461914, -1.5940830707550049, 0.5898057818412781 ]
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4.1
82
0
82
0
[ 0.06281884014606476, 0.14531084895133972, 0.2172686606645584, 1.2083206176757812, -1.5965197086334229, 0.590303897857666 ]
[ 0.06281884014606476, 0.14531084895133972, 0.2172686606645584, 1.2083206176757812, -1.5965197086334229, 0 ]
4.15
83
0
83
0
[ 0.06281765550374985, 0.14549469947814941, 0.2173011153936386, 1.2083313465118408, -1.5965147018432617, 0.5615256428718567 ]
[ 0.06281884014606476, 0.14531084895133972, 0.2172686606645584, 1.2083206176757812, -1.5965197086334229, 0 ]
4.2
84
0
84
0
[ 0.06280842423439026, 0.145431250333786, 0.2172989696264267, 1.2083346843719482, -1.5965118408203125, 0.5341501235961914 ]
[ 0.06281884014606476, 0.14531084895133972, 0.2172686606645584, 1.2083206176757812, -1.5965197086334229, 0 ]
4.25
85
0
85
0
[ 0.0628027617931366, 0.14538733661174774, 0.21729642152786255, 1.2083359956741333, -1.5965102910995483, 0.508109450340271 ]
[ 0.06281884014606476, 0.14531084895133972, 0.2172686606645584, 1.2083206176757812, -1.5965197086334229, 0 ]
4.3
86
0
86
0
[ 0.06280285865068436, 0.1453595608472824, 0.21729131042957306, 1.2083338499069214, -1.5965111255645752, 0.48333752155303955 ]
[ 0.06281884014606476, 0.14531084895133972, 0.2172686606645584, 1.2083206176757812, -1.5965197086334229, 0 ]
4.35
87
0
87
0
[ 0.06280025839805603, 0.1453462690114975, 0.2172912061214447, 1.2083340883255005, -1.596510648727417, 0.4597739577293396 ]
[ 0.06281884014606476, 0.14531084895133972, 0.2172686606645584, 1.2083206176757812, -1.5965197086334229, 0 ]
4.4
88
0
88
0
[ 0.06280149519443512, 0.14534084498882294, 0.21728913486003876, 1.208332896232605, -1.5965113639831543, 0.43735867738723755 ]
[ 0.06281884014606476, 0.14531084895133972, 0.2172686606645584, 1.2083206176757812, -1.5965197086334229, 0 ]
4.45
89
0
89
0
[ 0.06280401349067688, 0.14533409476280212, 0.21728546917438507, 1.2083309888839722, -1.5965125560760498, 0.4160359501838684 ]
[ 0.06281884014606476, 0.14531084895133972, 0.2172686606645584, 1.2083206176757812, -1.5965197086334229, 0 ]
4.5
90
0
90
0
[ 0.06278561800718307, 0.14523491263389587, 0.21728181838989258, 1.2083394527435303, -1.5964983701705933, 0.3957555890083313 ]
[ 0.06281884014606476, 0.14531084895133972, 0.2172686606645584, 1.2083206176757812, -1.5965197086334229, 0 ]
4.55
91
0
91
0
[ 0.06276427209377289, 0.14501138031482697, 0.21725217998027802, 1.208343505859375, -1.5964850187301636, 0.37646588683128357 ]
[ 0.06281884014606476, 0.14531084895133972, 0.2172686606645584, 1.2083206176757812, -1.5965197086334229, 0 ]
4.6
92
0
92
0
[ 0.06275124847888947, 0.1448826938867569, 0.21723470091819763, 1.2083442211151123, -1.596476435661316, 0.3581168055534363 ]
[ 0.06281884014606476, 0.14531084895133972, 0.2172686606645584, 1.2083206176757812, -1.5965197086334229, 0 ]
4.65
93
0
93
0
[ 0.06274525821208954, 0.14482787251472473, 0.21722663938999176, 1.2083431482315063, -1.5964730978012085, 0.3406619727611542 ]
[ 0.06281884014606476, 0.14531084895133972, 0.2172686606645584, 1.2083206176757812, -1.5965197086334229, 0 ]
4.7
94
0
94
0
[ 0.06274117529392242, 0.1448214054107666, 0.21722882986068726, 1.2083439826965332, -1.596470832824707, 0.3240581154823303 ]
[ 0.06281884014606476, 0.14531084895133972, 0.2172686606645584, 1.2083206176757812, -1.5965197086334229, 0 ]
4.75
95
0
95
0
[ 0.06273996829986572, 0.14483584463596344, 0.2172325700521469, 1.2083444595336914, -1.5964701175689697, 0.3082636296749115 ]
[ 0.06281884014606476, 0.14531084895133972, 0.2172686606645584, 1.2083206176757812, -1.5965197086334229, 0 ]
4.8
96
0
96
0
[ 0.06274061650037766, 0.14486165344715118, 0.2172364592552185, 1.2083436250686646, -1.5964703559875488, 0.29323893785476685 ]
[ 0.06281884014606476, 0.14531084895133972, 0.2172686606645584, 1.2083206176757812, -1.5965197086334229, 0 ]
4.85
97
0
97
0
[ 0.06274215877056122, 0.1448889970779419, 0.21723933517932892, 1.208342432975769, -1.5964720249176025, 0.2789464592933655 ]
[ 0.06274215877056122, 0.1448889970779419, 0.21723933517932892, 1.208342432975769, -1.5964720249176025, 0 ]
4.9
98
0
98
0
[ 0.06271439045667648, 0.14477822184562683, 0.21723712980747223, 1.2083505392074585, -1.5964549779891968, 0.26535049080848694 ]
[ 0.06258223205804825, 0.14469441771507263, 0.2161426842212677, 1.209634780883789, -1.5963126420974731, 0 ]
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": "so101",
    "total_episodes": 200,
    "total_frames": 34604,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:200"
    },
    "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": {
        "observation.images.image": {
            "dtype": "image",
            "shape": [
                128,
                128,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "observation.images.wrist_image": {
            "dtype": "image",
            "shape": [
                128,
                128,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "state"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "action"
            ]
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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        "frame_index": {
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            "names": null
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        "episode_index": {
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                1
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            "names": null
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        "index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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License:
apache-2.0
Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
34,604