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Datasets:
anvilbot-patrickhhh
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SO101_PickAndPlace_front_wrist

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
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float32
0
14.9
frame_index
int64
0
149
episode_index
int64
0
49
index
int64
0
7.5k
task_index
int64
0
0
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0.1
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1
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0.2
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0.3
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0.4
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0.5
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0.6
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0.7
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0.8
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0.9
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1
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1.1
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11
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1.2
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12
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1.3
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0
13
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1.4
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14
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1.5
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0
15
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1.6
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0
16
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1.7
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17
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1.8
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0
18
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1.9
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19
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2
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2.1
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21
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2.2
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22
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2.3
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23
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2.4
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24
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2.5
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25
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2.6
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26
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2.7
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27
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2.8
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28
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2.9
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3
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3.1
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31
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3.2
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32
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3.3
33
0
33
0
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3.4
34
0
34
0
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3.5
35
0
35
0
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3.6
36
0
36
0
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3.7
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37
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3.8
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0
38
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3.9
39
0
39
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4
40
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40
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4.1
41
0
41
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4.2
42
0
42
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4.3
43
0
43
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4.4
44
0
44
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4.5
45
0
45
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4.6
46
0
46
0
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4.7
47
0
47
0
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4.8
48
0
48
0
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4.9
49
0
49
0
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5
50
0
50
0
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5.1
51
0
51
0
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5.2
52
0
52
0
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5.3
53
0
53
0
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5.4
54
0
54
0
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5.5
55
0
55
0
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5.6
56
0
56
0
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5.7
57
0
57
0
[ 0.2250562608242035, -99.4120101928711, 99.82022094726562, -98.71958923339844, -56.86480712890625, 0.9104704260826111 ]
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5.8
58
0
58
0
[ -0.0750187560915947, -99.4120101928711, 99.82022094726562, -98.54886627197266, -56.91741180419922, 0.9104704260826111 ]
[ -0.07446016371250153, -99.41053009033203, 99.28315734863281, -98.5476303100586, -56.670169830322266, 2.1941490173339844 ]
5.9
59
0
59
0
[ 0.1500375121831894, -99.4120101928711, 99.82022094726562, -98.71958923339844, -56.91741180419922, 0.9104704260826111 ]
[ -0.07446016371250153, -99.41053009033203, 99.28315734863281, -98.5476303100586, -56.670169830322266, 2.1941490173339844 ]
6
60
0
60
0
[ 0.3000750243663788, -99.4120101928711, 99.82022094726562, -98.71958923339844, -56.91741180419922, 0.9104704260826111 ]
[ -0.07446016371250153, -99.41053009033203, 99.28315734863281, -98.5476303100586, -56.670169830322266, 2.1941490173339844 ]
6.1
61
0
61
0
[ 0.3000750243663788, -99.4120101928711, 99.82022094726562, -98.20742797851562, -56.70699691772461, 0.9104704260826111 ]
[ -0.07446016371250153, -99.41053009033203, 99.28315734863281, -98.5476303100586, -56.670169830322266, 2.1941490173339844 ]
6.2
62
0
62
0
[ 0.450112521648407, -99.4120101928711, 99.73033905029297, -98.3781509399414, -56.60178756713867, 0.9104704260826111 ]
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6.3
63
0
63
0
[ 0.5251312851905823, -99.4120101928711, 95.23595428466797, -98.20742797851562, -56.5491828918457, 0.9104704260826111 ]
[ -0.07446016371250153, -99.41053009033203, 99.28315734863281, -98.5476303100586, -56.670169830322266, 2.1941490173339844 ]
6.4
64
0
64
0
[ 0.5251312851905823, -99.32801055908203, 86.42696380615234, -92.31754302978516, -56.5491828918457, 0.9104704260826111 ]
[ -0.07446016371250153, -99.41053009033203, 98.38710021972656, -98.5476303100586, -56.670169830322266, 2.1941490173339844 ]
6.5
65
0
65
0
[ 0.5251312851905823, -99.32801055908203, 78.51685333251953, -82.8425064086914, -56.5491828918457, 0.9104704260826111 ]
[ -0.07446016371250153, -99.41053009033203, 95.51971435546875, -97.18069458007812, -56.670169830322266, 2.1941490173339844 ]
6.6
66
0
66
0
[ 0.6001500487327576, -99.4120101928711, 72.0449447631836, -75.50149536132812, -56.5491828918457, 0.9104704260826111 ]
[ -0.07446016371250153, -99.41053009033203, 87.90322875976562, -92.22554779052734, -56.670169830322266, 2.1941490173339844 ]
6.7
67
0
67
0
[ 1.9504876136779785, -99.4120101928711, 66.74156951904297, -71.14810180664062, -56.49658203125, 0.9104704260826111 ]
[ 0.22338049113750458, -99.41053009033203, 80.7347640991211, -83.76762390136719, -56.670169830322266, 2.1941490173339844 ]
6.8
68
0
68
0
[ 5.8514628410339355, -99.4120101928711, 61.70786666870117, -66.88006591796875, -56.65439224243164, 0.9104704260826111 ]
[ 0.8935219645500183, -99.49473571777344, 74.01433563232422, -77.10380554199219, -56.72269058227539, 2.1941490173339844 ]
6.9
69
0
69
0
[ 8.402100563049316, -99.4120101928711, 56.94382095336914, -60.39265823364258, -56.86480712890625, 0.9104704260826111 ]
[ 3.1273269653320312, -99.49473571777344, 67.92115020751953, -72.14865112304688, -56.72269058227539, 2.1941490173339844 ]
7
70
0
70
0
[ 8.927231788635254, -99.4120101928711, 52.449440002441406, -52.198036193847656, -56.91741180419922, 0.9104704260826111 ]
[ 6.1801934242248535, -99.49473571777344, 62.455196380615234, -67.36437225341797, -56.72269058227539, 2.1941490173339844 ]
7.1
71
0
71
0
[ 8.927231788635254, -99.32801055908203, 47.41572952270508, -41.1865119934082, -56.91741180419922, 0.9104704260826111 ]
[ 8.116157531738281, -99.49473571777344, 57.25806427001953, -60.871421813964844, -56.72269058227539, 2.1941490173339844 ]
7.2
72
0
72
0
[ 8.927231788635254, -99.32801055908203, 41.93258285522461, -28.126333236694336, -56.91741180419922, 0.9104704260826111 ]
[ 8.488458633422852, -99.49473571777344, 52.329750061035156, -52.840667724609375, -56.72269058227539, 2.1941490173339844 ]
7.3
73
0
73
0
[ 8.477119445800781, -99.32801055908203, 37.52809143066406, -14.980793952941895, -56.60178756713867, 0.9104704260826111 ]
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7.4
74
0
74
0
[ 8.852212905883789, -99.2440185546875, 36, -3.798548936843872, -56.60178756713867, 0.9104704260826111 ]
[ 8.562918663024902, -99.49473571777344, 41.397850036621094, -29.688167572021484, -56.72269058227539, 2.1941490173339844 ]
7.5
75
0
75
0
[ 9.002250671386719, -99.07601928710938, 36.17977523803711, 6.956892967224121, -56.81220245361328, 0.9104704260826111 ]
[ 8.562918663024902, -99.49473571777344, 37.36559295654297, -16.873130798339844, -56.72269058227539, 2.1941490173339844 ]
7.6
76
0
76
0
[ 9.077269554138184, -96.38806915283203, 35.370784759521484, 18.736661911010742, -56.70699691772461, 0.9104704260826111 ]
[ 8.562918663024902, -99.49473571777344, 36.46953582763672, -5.425032138824463, -56.72269058227539, 2.1941490173339844 ]
7.7
77
0
77
0
[ 9.077269554138184, -89.50021362304688, 33.84269714355469, 28.211694717407227, -56.60178756713867, 0.9104704260826111 ]
[ 8.562918663024902, -98.48420715332031, 36.20071792602539, 6.193934440612793, -56.72269058227539, 2.1941490173339844 ]
7.8
78
0
78
0
[ 9.077269554138184, -80.51239013671875, 26.47191047668457, 37.60136413574219, -56.86480712890625, 0.9104704260826111 ]
[ 8.562918663024902, -96.80000305175781, 34.94623565673828, 17.983768463134766, -56.72269058227539, 2.1941490173339844 ]
7.9
79
0
79
0
[ 9.077269554138184, -69.76060485839844, 14.966292381286621, 48.78361129760742, -56.91741180419922, 0.9104704260826111 ]
[ 8.562918663024902, -91.91578674316406, 32.34767150878906, 28.064929962158203, -56.72269058227539, 2.1941490173339844 ]
8
80
0
80
0
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[ 8.637378692626953, -83.15789794921875, 26.254480361938477, 38.14609146118164, -56.72269058227539, 2.1941490173339844 ]
8.1
81
0
81
0
[ 8.552138328552246, -48.509029388427734, -12.898876190185547, 69.78233337402344, -56.97001647949219, 0.9104704260826111 ]
[ 8.637378692626953, -72.71578979492188, 16.308242797851562, 49.25245666503906, -56.72269058227539, 2.1941490173339844 ]
8.2
82
0
82
0
[ 7.126781463623047, -38.93321990966797, -23.595504760742188, 81.04993438720703, -56.97001647949219, 0.9104704260826111 ]
[ 8.637378692626953, -61.68421173095703, 4.032258033752441, 61.04228973388672, -56.72269058227539, 2.1941490173339844 ]
8.3
83
0
83
0
[ 2.4006001949310303, -31.28937339782715, -31.955055236816406, 88.56167602539062, -56.65439224243164, 0.9104704260826111 ]
[ 7.96723747253418, -50.82105255126953, -9.498208045959473, 69.92738342285156, -56.72269058227539, 2.1941490173339844 ]
8.4
84
0
84
0
[ -2.475618839263916, -24.401512145996094, -37.70786666870117, 94.62227630615234, -56.65439224243164, 0.9104704260826111 ]
[ 5.807892799377441, -41.05263137817383, -20.878135681152344, 81.03374481201172, -56.72269058227539, 2.1941490173339844 ]
8.5
85
0
85
0
[ -8.102025032043457, -18.437631607055664, -39.41572952270508, 97.09774017333984, -56.91741180419922, 0.9104704260826111 ]
[ 1.7870439291000366, -32.715789794921875, -29.032258987426758, 88.89363861083984, -56.72269058227539, 2.1941490173339844 ]
8.6
86
0
86
0
[ -13.203300476074219, -13.229735374450684, -39.59550476074219, 96.92701721191406, -56.97001647949219, 0.9104704260826111 ]
[ -3.201786994934082, -24.88421058654785, -34.58781433105469, 94.7885513305664, -56.72269058227539, 2.1941490173339844 ]
8.7
87
0
87
0
[ -18.754688262939453, -9.533809661865234, -39.59550476074219, 95.6466064453125, -56.97001647949219, 1.2898330688476562 ]
[ -8.116157531738281, -17.978946685791016, -36.648746490478516, 96.6680908203125, -56.72269058227539, 2.1941490173339844 ]
8.8
88
0
88
0
[ -23.105775833129883, -6.509869575500488, -39.59550476074219, 94.0247573852539, -56.91741180419922, 1.3657056093215942 ]
[ -13.328369140625, -11.66315746307373, -36.82795715332031, 96.58265686035156, -56.72269058227539, 2.1941490173339844 ]
8.9
89
0
89
0
[ -25.131282806396484, -4.577908515930176, -39.59550476074219, 93.00042724609375, -56.91741180419922, 1.3657056093215942 ]
[ -19.210721969604492, -7.45263147354126, -36.82795715332031, 95.81375122070312, -56.72269058227539, 2.1941490173339844 ]
9
90
0
90
0
[ -25.281320571899414, -2.645946979522705, -39.59550476074219, 93.00042724609375, -56.91741180419922, 1.3657056093215942 ]
[ -23.306032180786133, -4.589473724365234, -36.82795715332031, 94.61768341064453, -56.72269058227539, 2.1941490173339844 ]
9.1
91
0
91
0
[ -25.506376266479492, 0.2099958062171936, -39.41572952270508, 92.91506958007812, -56.97001647949219, 0.9104704260826111 ]
[ -24.944154739379883, -2.5684211254119873, -36.82795715332031, 94.27594757080078, -56.72269058227539, 2.1941490173339844 ]
9.2
92
0
92
0
[ -27.006752014160156, 3.989920139312744, -38.69662857055664, 93.42723083496094, -56.97001647949219, 0.9104704260826111 ]
[ -25.390914916992188, -0.12631578743457794, -36.82795715332031, 94.19051361083984, -56.72269058227539, 2.1941490173339844 ]
9.3
93
0
93
0
[ -29.107276916503906, 8.609827995300293, -38.60674285888672, 93.85403442382812, -56.91741180419922, 0.9104704260826111 ]
[ -25.986597061157227, 2.989473581314087, -36.82795715332031, 94.19051361083984, -56.72269058227539, 2.1941490173339844 ]
9.4
94
0
94
0
[ -30.38259506225586, 13.229735374450684, -38.60674285888672, 93.68331146240234, -56.91741180419922, 1.2139605283737183 ]
[ -27.848100662231445, 7.115789413452148, -36.82795715332031, 94.19051361083984, -56.72269058227539, 2.1941490173339844 ]
9.5
95
0
95
0
[ -31.582895278930664, 17.765644073486328, -39.41572952270508, 93.00042724609375, -56.97001647949219, 1.3657056093215942 ]
[ -30.0074462890625, 11.831579208374023, -36.82795715332031, 94.19051361083984, -56.72269058227539, 2.1941490173339844 ]
9.6
96
0
96
0
[ -33.45836639404297, 22.38555145263672, -39.59550476074219, 91.5492935180664, -56.97001647949219, 1.2898330688476562 ]
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9.7
97
0
97
0
[ -33.75843811035156, 25.40949249267578, -39.59550476074219, 87.79342651367188, -57.285640716552734, 1.2898330688476562 ]
[ -32.464630126953125, 21.515789031982422, -36.82795715332031, 93.16531372070312, -56.72269058227539, 2.1941490173339844 ]
9.8
98
0
98
0
[ -34.208553314208984, 27.593448638916016, -39.59550476074219, 83.44003295898438, -59.23198318481445, 1.3657056093215942 ]
[ -33.80491256713867, 25.894737243652344, -36.82795715332031, 90.7731704711914, -56.93277359008789, 2.1941490173339844 ]
9.9
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_follower",
    "total_episodes": 50,
    "total_frames": 7500,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
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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": {
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            "names": [
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                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
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        "observation.state": {
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            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
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        },
        "observation.images.front": {
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            "names": [
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        "observation.images.wrist": {
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        "timestamp": {
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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:
apache-2.0
Size of downloaded dataset files:
528 kB
Size of the auto-converted Parquet files:
528 kB
Number of rows:
7,500

Models trained or fine-tuned on anvilbot-patrickhhh/SO101_PickAndPlace_front_wrist