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Datasets:
DavidYeh0709
/
so100_david_0610_2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
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Dask
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action
sequence
observation.state
sequence
timestamp
float32
0
24.2
frame_index
int64
0
725
episode_index
int64
0
4
index
int64
0
2.57k
task_index
int64
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[ -3.779296875, 89.6484375, 2.197265625, 13.798828125, 18.45703125, 29.952606201171875 ]
[ -2.98828125, 89.736328125, 2.4609375, 13.18359375, 18.896484375, 30.452674865722656 ]
2.433333
73
0
73
0
[ -3.955078125, 89.560546875, 2.197265625, 13.798828125, 18.369140625, 29.952606201171875 ]
[ -3.251953125, 89.736328125, 2.4609375, 13.447265625, 18.720703125, 30.452674865722656 ]
2.466667
74
0
74
0
[ -4.04296875, 89.560546875, 2.197265625, 13.88671875, 18.369140625, 29.952606201171875 ]
[ -3.427734375, 89.736328125, 2.4609375, 13.53515625, 18.6328125, 30.452674865722656 ]
2.5
75
0
75
0
[ -4.130859375, 89.560546875, 2.197265625, 13.974609375, 18.369140625, 29.952606201171875 ]
[ -3.603515625, 89.736328125, 2.4609375, 13.53515625, 18.6328125, 30.452674865722656 ]
2.533333
76
0
76
0
[ -4.21875, 89.560546875, 2.197265625, 13.974609375, 18.369140625, 29.952606201171875 ]
[ -3.69140625, 89.736328125, 2.4609375, 13.53515625, 18.6328125, 30.452674865722656 ]
2.566667
77
0
77
0
[ -4.306640625, 89.560546875, 2.197265625, 13.974609375, 18.369140625, 29.952606201171875 ]
[ -3.69140625, 89.736328125, 2.4609375, 13.623046875, 18.6328125, 30.452674865722656 ]
2.6
78
0
78
0
[ -4.306640625, 89.560546875, 2.197265625, 13.974609375, 18.28125, 29.952606201171875 ]
[ -3.8671875, 89.6484375, 2.4609375, 13.623046875, 18.6328125, 30.452674865722656 ]
2.633333
79
0
79
0
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[ -3.8671875, 89.560546875, 2.4609375, 13.623046875, 18.6328125, 30.452674865722656 ]
2.666667
80
0
80
0
[ -4.306640625, 89.560546875, 2.197265625, 14.0625, 18.28125, 29.76303482055664 ]
[ -3.955078125, 89.560546875, 2.4609375, 13.623046875, 18.544921875, 30.452674865722656 ]
2.7
81
0
81
0
[ -4.306640625, 89.560546875, 2.197265625, 14.326171875, 18.369140625, 29.76303482055664 ]
[ -4.04296875, 89.560546875, 2.4609375, 13.623046875, 18.544921875, 30.452674865722656 ]
2.733333
82
0
82
0
[ -4.306640625, 89.560546875, 2.197265625, 14.58984375, 18.369140625, 29.573457717895508 ]
[ -4.04296875, 89.560546875, 2.4609375, 13.7109375, 18.544921875, 30.452674865722656 ]
2.766667
83
0
83
0
[ -4.39453125, 89.47265625, 2.197265625, 14.853515625, 18.45703125, 29.383886337280273 ]
[ -4.04296875, 89.560546875, 2.4609375, 14.0625, 18.544921875, 30.28806495666504 ]
2.8
84
0
84
0
[ -4.5703125, 89.47265625, 2.197265625, 15.1171875, 18.45703125, 29.289098739624023 ]
[ -4.04296875, 89.560546875, 2.4609375, 14.326171875, 18.544921875, 29.958847045898438 ]
2.833333
85
0
85
0
[ -4.74609375, 89.47265625, 2.197265625, 15.46875, 18.369140625, 29.194313049316406 ]
[ -4.04296875, 89.560546875, 2.4609375, 14.58984375, 18.544921875, 29.794239044189453 ]
2.866667
86
0
86
0
[ -4.921875, 89.47265625, 2.197265625, 15.8203125, 18.28125, 29.194313049316406 ]
[ -4.21875, 89.560546875, 2.4609375, 14.94140625, 18.544921875, 29.71193504333496 ]
2.9
87
0
87
0
[ -5.09765625, 89.47265625, 2.197265625, 16.171875, 18.193359375, 29.194313049316406 ]
[ -4.482421875, 89.560546875, 2.4609375, 15.380859375, 18.544921875, 29.629629135131836 ]
2.933333
88
0
88
0
[ -5.185546875, 89.47265625, 2.197265625, 16.259765625, 18.193359375, 29.194313049316406 ]
[ -4.5703125, 89.560546875, 2.4609375, 15.64453125, 18.544921875, 29.629629135131836 ]
2.966667
89
0
89
0
[ -5.361328125, 89.47265625, 2.197265625, 16.259765625, 18.017578125, 29.194313049316406 ]
[ -4.74609375, 89.560546875, 2.4609375, 15.908203125, 18.544921875, 29.629629135131836 ]
3
90
0
90
0
[ -5.44921875, 89.47265625, 2.197265625, 16.259765625, 18.017578125, 29.194313049316406 ]
[ -4.833984375, 89.560546875, 2.4609375, 15.99609375, 18.45703125, 29.629629135131836 ]
3.033333
91
0
91
0
[ -5.44921875, 89.47265625, 2.197265625, 16.259765625, 18.017578125, 29.194313049316406 ]
[ -5.009765625, 89.560546875, 2.4609375, 15.99609375, 18.45703125, 29.629629135131836 ]
3.066667
92
0
92
0
[ -5.625, 89.47265625, 2.197265625, 16.259765625, 18.017578125, 29.194313049316406 ]
[ -5.09765625, 89.560546875, 2.4609375, 15.99609375, 18.45703125, 29.629629135131836 ]
3.1
93
0
93
0
[ -5.712890625, 89.560546875, 2.197265625, 16.259765625, 17.841796875, 29.194313049316406 ]
[ -5.185546875, 89.560546875, 2.4609375, 15.99609375, 18.369140625, 29.629629135131836 ]
3.133333
94
0
94
0
[ -5.888671875, 89.6484375, 2.197265625, 16.259765625, 17.841796875, 29.09952735900879 ]
[ -5.2734375, 89.560546875, 2.4609375, 15.99609375, 18.369140625, 29.629629135131836 ]
3.166667
95
0
95
0
[ -5.9765625, 89.6484375, 2.197265625, 16.34765625, 17.841796875, 29.09952735900879 ]
[ -5.2734375, 89.560546875, 2.4609375, 15.99609375, 18.369140625, 29.629629135131836 ]
3.2
96
0
96
0
[ -6.064453125, 89.736328125, 2.197265625, 16.69921875, 17.841796875, 29.09952735900879 ]
[ -5.625, 89.560546875, 2.4609375, 15.99609375, 18.193359375, 29.46501922607422 ]
3.233333
97
0
97
0
[ -6.064453125, 90, 2.197265625, 17.138671875, 18.017578125, 29.194313049316406 ]
[ -5.625, 89.560546875, 2.4609375, 16.083984375, 18.10546875, 29.46501922607422 ]
3.266667
98
0
98
0
[ -6.064453125, 90.263671875, 2.197265625, 17.841796875, 18.193359375, 29.194313049316406 ]
[ -5.625, 89.560546875, 2.4609375, 16.5234375, 18.10546875, 29.46501922607422 ]
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": 5,
    "total_frames": 2566,
    "total_tasks": 1,
    "total_videos": 5,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:5"
    },
    "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": [
                6
            ],
            "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": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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