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so100_test4

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Robotics
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LeRobot
so100
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action
sequence
observation.state
sequence
timestamp
float32
0
26.4
frame_index
int64
0
793
episode_index
int64
0
1
index
int64
0
1.49k
task_index
int64
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72
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[ -18.720703125, 189.931640625, 178.06640625, 34.365234375, 10.546875, 0.9961685538291931 ]
2.433333
73
0
73
0
[ -18.6328125, 189.4921875, 177.36328125, 33.837890625, 10.72265625, 0.8873114585876465 ]
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2.466667
74
0
74
0
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[ -18.80859375, 190.01953125, 178.06640625, 34.365234375, 10.458984375, 0.9961685538291931 ]
2.5
75
0
75
0
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[ -18.720703125, 189.580078125, 178.06640625, 34.365234375, 10.458984375, 0.9961685538291931 ]
2.533333
76
0
76
0
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2.566667
77
0
77
0
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2.6
78
0
78
0
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[ -18.45703125, 189.404296875, 178.06640625, 34.365234375, 10.458984375, 0.9961685538291931 ]
2.633333
79
0
79
0
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[ -18.45703125, 189.404296875, 178.06640625, 34.365234375, 10.458984375, 0.9961685538291931 ]
2.666667
80
0
80
0
[ -18.896484375, 189.404296875, 177.36328125, 33.837890625, 10.458984375, 0.8873114585876465 ]
[ -18.45703125, 189.4921875, 178.06640625, 34.365234375, 10.458984375, 0.9961685538291931 ]
2.7
81
0
81
0
[ -18.193359375, 189.31640625, 177.36328125, 33.837890625, 10.37109375, 0.8873114585876465 ]
[ -18.80859375, 189.404296875, 178.06640625, 34.365234375, 10.458984375, 0.9961685538291931 ]
2.733333
82
0
82
0
[ -18.193359375, 189.31640625, 177.36328125, 33.837890625, 10.37109375, 0.8873114585876465 ]
[ -19.16015625, 189.404296875, 178.06640625, 34.365234375, 10.458984375, 0.9961685538291931 ]
2.766667
83
0
83
0
[ -18.720703125, 189.31640625, 177.36328125, 33.837890625, 10.458984375, 0.8873114585876465 ]
[ -18.369140625, 189.404296875, 178.06640625, 34.365234375, 10.458984375, 0.9961685538291931 ]
2.8
84
0
84
0
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2.833333
85
0
85
0
[ -18.984375, 189.140625, 177.36328125, 33.92578125, 10.458984375, 0.8873114585876465 ]
[ -18.6328125, 189.404296875, 178.06640625, 34.365234375, 10.8984375, 0.9961685538291931 ]
2.866667
86
0
86
0
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[ -19.072265625, 189.404296875, 178.06640625, 34.365234375, 10.458984375, 0.9961685538291931 ]
2.9
87
0
87
0
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2.933333
88
0
88
0
[ -19.248046875, 189.580078125, 177.36328125, 33.75, 10.634765625, 1.6858917474746704 ]
[ -18.45703125, 188.96484375, 178.06640625, 34.365234375, 10.810546875, 0.9961685538291931 ]
2.966667
89
0
89
0
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[ -18.896484375, 189.228515625, 178.06640625, 34.365234375, 10.546875, 1.0727969408035278 ]
3
90
0
90
0
[ -19.248046875, 189.66796875, 177.36328125, 33.22265625, 10.1953125, 1.774622917175293 ]
[ -19.072265625, 189.66796875, 178.06640625, 34.365234375, 10.458984375, 1.532567024230957 ]
3.033333
91
0
91
0
[ -19.248046875, 189.755859375, 177.36328125, 33.046875, 10.283203125, 1.9520851373672485 ]
[ -18.80859375, 189.66796875, 178.06640625, 34.365234375, 10.37109375, 1.609195351600647 ]
3.066667
92
0
92
0
[ -19.16015625, 189.84375, 177.36328125, 32.958984375, 10.634765625, 2.9281277656555176 ]
[ -18.6328125, 189.404296875, 178.06640625, 34.365234375, 10.546875, 1.609195351600647 ]
3.1
93
0
93
0
[ -18.80859375, 190.01953125, 177.36328125, 32.431640625, 10.634765625, 5.412600040435791 ]
[ -19.248046875, 189.404296875, 178.06640625, 34.1015625, 10.72265625, 1.9157087802886963 ]
3.133333
94
0
94
0
[ -18.544921875, 190.01953125, 177.36328125, 31.2890625, 10.72265625, 8.429458618164062 ]
[ -19.3359375, 189.580078125, 178.06640625, 33.75, 10.546875, 2.222222328186035 ]
3.166667
95
0
95
0
[ -18.369140625, 190.01953125, 177.36328125, 29.794921875, 10.72265625, 12.156167030334473 ]
[ -18.896484375, 189.580078125, 178.06640625, 33.046875, 10.458984375, 3.524904251098633 ]
3.2
96
0
96
0
[ -18.28125, 190.01953125, 177.36328125, 28.125, 10.810546875, 16.32653045654297 ]
[ -18.369140625, 189.755859375, 178.06640625, 32.080078125, 10.458984375, 5.593869686126709 ]
3.233333
97
0
97
0
[ -18.28125, 190.01953125, 177.36328125, 26.3671875, 10.810546875, 20.76308822631836 ]
[ -18.45703125, 189.755859375, 178.06640625, 30.9375, 10.8984375, 8.045976638793945 ]
3.266667
98
0
98
0
[ -18.28125, 190.01953125, 177.36328125, 24.697265625, 10.810546875, 25.288375854492188 ]
[ -18.80859375, 189.755859375, 178.06640625, 29.443359375, 10.72265625, 11.264368057250977 ]
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": "so100",
    "total_episodes": 2,
    "total_frames": 1490,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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": {
        "action": {
            "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.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.laptop": {
            "dtype": "video",
            "shape": [
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                640,
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            "names": [
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        "observation.images.usb-cam": {
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            "names": [
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                "channels"
            ],
            "info": {
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                "video.codec": "h264",
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        },
        "timestamp": {
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            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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