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Datasets:
Bashar-Alhaffar
/
so100_test

Tasks:
Robotics
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Tabular
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Video
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parquet
Size:
1K - 10K
Tags:
LeRobot
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action
sequence
observation.state
sequence
timestamp
float32
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25.7
frame_index
int64
0
772
episode_index
int64
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index
int64
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2.02k
task_index
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[ 4.39453125, 100.72265625, 24.169921875, -7.55859375, -81.9140625, -2.059659242630005, -8.7890625, 104.326171875, 21.4453125, 6.15234375, -25.3125, -0.9478673338890076 ]
2.633333
79
0
79
0
[ 13.623046875, 99.228515625, 24.43359375, -14.58984375, -82.265625, -9.251968383789062, -7.646484375, 104.0625, 21.09375, 5.888671875, -25.83984375, -3.408071756362915 ]
[ 5.712890625, 100.458984375, 24.697265625, -9.4921875, -82.880859375, -2.059659242630005, -8.7890625, 104.326171875, 21.4453125, 6.15234375, -25.3125, -0.9478673338890076 ]
2.666667
80
0
80
0
[ 16.083984375, 97.822265625, 25.224609375, -17.75390625, -79.013671875, -9.251968383789062, -7.646484375, 103.974609375, 21.09375, 5.888671875, -25.83984375, -3.408071756362915 ]
[ 7.91015625, 100.107421875, 24.873046875, -11.162109375, -82.265625, -2.059659242630005, -8.7890625, 104.326171875, 21.4453125, 6.15234375, -25.3125, -0.9478673338890076 ]
2.7
81
0
81
0
[ 18.193359375, 96.767578125, 25.224609375, -18.544921875, -78.486328125, -9.251968383789062, -7.646484375, 103.974609375, 21.09375, 5.888671875, -25.83984375, -3.408071756362915 ]
[ 10.810546875, 99.052734375, 24.873046875, -13.974609375, -81.826171875, -2.059659242630005, -8.7890625, 104.23828125, 21.4453125, 6.15234375, -25.3125, -0.9478673338890076 ]
2.733333
82
0
82
0
[ 20.478515625, 96.240234375, 25.400390625, -17.05078125, -78.046875, -9.251968383789062, -7.646484375, 103.974609375, 21.09375, 5.888671875, -25.83984375, -3.408071756362915 ]
[ 14.677734375, 97.294921875, 24.873046875, -17.314453125, -79.013671875, -2.059659242630005, -8.7890625, 104.150390625, 21.4453125, 6.15234375, -25.3125, -0.9478673338890076 ]
2.766667
83
0
83
0
[ 22.1484375, 96.240234375, 25.751953125, -14.677734375, -77.431640625, -9.251968383789062, -7.646484375, 103.974609375, 21.09375, 5.888671875, -25.83984375, -3.408071756362915 ]
[ 14.853515625, 97.294921875, 24.873046875, -17.40234375, -79.013671875, -2.059659242630005, -8.7890625, 104.150390625, 21.4453125, 6.15234375, -25.3125, -0.9478673338890076 ]
2.8
84
0
84
0
[ 24.521484375, 96.240234375, 26.89453125, -12.83203125, -75.673828125, -9.251968383789062, -7.646484375, 103.88671875, 21.09375, 5.888671875, -25.83984375, -3.408071756362915 ]
[ 20.126953125, 97.3828125, 25.3125, -15.1171875, -78.134765625, -2.059659242630005, -8.7890625, 103.7109375, 21.26953125, 6.15234375, -25.3125, -0.9478673338890076 ]
2.833333
85
0
85
0
[ 25.751953125, 96.240234375, 28.65234375, -12.568359375, -72.94921875, -9.251968383789062, -7.646484375, 103.88671875, 21.09375, 5.888671875, -25.83984375, -3.408071756362915 ]
[ 23.203125, 97.20703125, 25.3125, -14.23828125, -76.2890625, -2.059659242630005, -8.349609375, 103.53515625, 21.005859375, 6.15234375, -25.3125, -0.9478673338890076 ]
2.866667
86
0
86
0
[ 26.279296875, 96.240234375, 29.70703125, -12.65625, -71.19140625, -9.251968383789062, -7.646484375, 103.974609375, 21.09375, 5.888671875, -25.927734375, -3.408071756362915 ]
[ 24.169921875, 97.3828125, 25.927734375, -13.7109375, -75.498046875, -2.059659242630005, -8.173828125, 103.53515625, 20.7421875, 6.15234375, -25.400390625, -0.9478673338890076 ]
2.9
87
0
87
0
[ 26.89453125, 96.240234375, 30.76171875, -13.095703125, -69.9609375, -9.251968383789062, -7.646484375, 103.974609375, 21.09375, 5.888671875, -25.83984375, -3.408071756362915 ]
[ 24.873046875, 97.3828125, 27.0703125, -13.53515625, -73.212890625, -2.059659242630005, -8.173828125, 103.447265625, 20.654296875, 6.15234375, -25.400390625, -0.9478673338890076 ]
2.933333
88
0
88
0
[ 27.7734375, 96.240234375, 32.6953125, -14.853515625, -68.818359375, -9.251968383789062, -7.646484375, 103.974609375, 21.09375, 5.888671875, -25.751953125, -3.408071756362915 ]
[ 25.83984375, 97.20703125, 28.564453125, -13.447265625, -71.806640625, -2.059659242630005, -8.173828125, 103.447265625, 20.56640625, 6.15234375, -25.400390625, -0.9478673338890076 ]
2.966667
89
0
89
0
[ 28.125, 96.240234375, 34.716796875, -17.2265625, -68.203125, -9.251968383789062, -7.646484375, 104.0625, 21.09375, 5.888671875, -25.751953125, -3.408071756362915 ]
[ 26.015625, 97.20703125, 28.916015625, -13.447265625, -71.455078125, -2.059659242630005, -8.173828125, 103.447265625, 20.56640625, 6.15234375, -25.400390625, -0.9478673338890076 ]
3
90
0
90
0
[ 28.388671875, 96.15234375, 35.947265625, -19.248046875, -68.02734375, -9.251968383789062, -7.646484375, 104.0625, 21.09375, 5.888671875, -25.83984375, -3.408071756362915 ]
[ 27.24609375, 97.119140625, 32.255859375, -15.908203125, -69.169921875, -2.059659242630005, -8.173828125, 103.447265625, 20.478515625, 6.15234375, -25.400390625, -0.9478673338890076 ]
3.033333
91
0
91
0
[ 28.65234375, 95.80078125, 37.96875, -23.203125, -67.8515625, -9.251968383789062, -7.646484375, 104.0625, 21.09375, 5.888671875, -25.927734375, -3.408071756362915 ]
[ 27.333984375, 97.119140625, 32.51953125, -16.083984375, -68.90625, -2.059659242630005, -8.173828125, 103.447265625, 20.478515625, 6.15234375, -25.400390625, -0.9478673338890076 ]
3.066667
92
0
92
0
[ 28.828125, 95.185546875, 38.671875, -25.576171875, -67.939453125, -9.251968383789062, -7.646484375, 104.0625, 21.09375, 5.888671875, -25.83984375, -3.408071756362915 ]
[ 28.388671875, 97.20703125, 34.98046875, -20.21484375, -68.203125, -2.059659242630005, -8.173828125, 103.447265625, 20.478515625, 6.15234375, -25.400390625, -0.9478673338890076 ]
3.1
93
0
93
0
[ 28.916015625, 94.21875, 39.375, -28.65234375, -68.291015625, -9.251968383789062, -7.646484375, 104.0625, 21.09375, 5.888671875, -25.83984375, -3.408071756362915 ]
[ 28.388671875, 97.294921875, 35.15625, -20.654296875, -68.115234375, -2.059659242630005, -8.173828125, 103.447265625, 20.478515625, 6.15234375, -25.400390625, -0.9478673338890076 ]
3.133333
94
0
94
0
[ 29.00390625, 93.33984375, 39.55078125, -30.9375, -68.818359375, -9.251968383789062, -7.646484375, 104.0625, 21.09375, 5.888671875, -25.83984375, -3.408071756362915 ]
[ 28.916015625, 96.767578125, 36.826171875, -25.751953125, -68.115234375, -2.059659242630005, -8.173828125, 103.447265625, 20.478515625, 6.15234375, -25.400390625, -0.9478673338890076 ]
3.166667
95
0
95
0
[ 29.091796875, 92.724609375, 40.693359375, -34.27734375, -69.873046875, -9.251968383789062, -7.646484375, 104.0625, 21.09375, 5.888671875, -25.83984375, -3.408071756362915 ]
[ 28.916015625, 96.767578125, 36.9140625, -26.015625, -68.115234375, -2.059659242630005, -8.173828125, 103.447265625, 20.478515625, 6.15234375, -25.400390625, -0.9478673338890076 ]
3.2
96
0
96
0
[ 29.091796875, 92.63671875, 42.01171875, -36.474609375, -70.224609375, -9.251968383789062, -7.646484375, 104.0625, 21.09375, 5.888671875, -25.83984375, -3.408071756362915 ]
[ 28.916015625, 96.416015625, 37.353515625, -27.94921875, -68.37890625, -2.059659242630005, -8.173828125, 103.359375, 20.478515625, 6.15234375, -25.400390625, -0.9478673338890076 ]
3.233333
97
0
97
0
[ 29.091796875, 92.63671875, 43.505859375, -38.583984375, -70.3125, -9.251968383789062, -7.646484375, 104.0625, 21.09375, 5.888671875, -25.83984375, -3.408071756362915 ]
[ 28.916015625, 95.712890625, 38.84765625, -31.9921875, -69.345703125, -2.059659242630005, -8.173828125, 103.359375, 20.478515625, 6.15234375, -25.400390625, -0.9478673338890076 ]
3.266667
98
0
98
0
[ 29.00390625, 92.63671875, 45.615234375, -41.396484375, -70.400390625, -9.251968383789062, -7.646484375, 104.0625, 21.09375, 5.888671875, -25.83984375, -3.408071756362915 ]
[ 28.916015625, 95.361328125, 39.90234375, -34.541015625, -69.873046875, -2.059659242630005, -8.173828125, 103.359375, 20.478515625, 6.15234375, -25.400390625, -0.9478673338890076 ]
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_aloha",
    "total_episodes": 3,
    "total_frames": 2024,
    "total_tasks": 1,
    "total_videos": 9,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "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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                "left_shoulder_lift",
                "left_elbow_flex",
                "left_wrist_flex",
                "left_wrist_roll",
                "left_gripper",
                "right_shoulder_pan",
                "right_shoulder_lift",
                "right_elbow_flex",
                "right_wrist_flex",
                "right_wrist_roll",
                "right_gripper"
            ]
        },
        "observation.state": {
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            "names": [
                "left_shoulder_pan",
                "left_shoulder_lift",
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                "left_wrist_roll",
                "left_gripper",
                "right_shoulder_pan",
                "right_shoulder_lift",
                "right_elbow_flex",
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        }
    }
}

Citation

BibTeX:

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