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Datasets:
Gano007
/
so100_medic

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
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action
sequence
observation.state
sequence
timestamp
float32
0
11.9
frame_index
int64
0
358
episode_index
int64
0
49
index
int64
0
17.9k
task_index
int64
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[ -19.51171875, 164.70703125, 135.439453125, 69.78515625, -2.197265625, 0.3581661880016327 ]
2.333333
70
0
70
0
[ -11.337890625, 138.076171875, 117.158203125, 69.2578125, -1.93359375, 0.6768189668655396 ]
[ -18.10546875, 160.576171875, 132.5390625, 69.78515625, -2.197265625, 0.3581661880016327 ]
2.366667
71
0
71
0
[ -9.228515625, 133.76953125, 114.169921875, 69.2578125, -1.93359375, 0.6768189668655396 ]
[ -16.5234375, 155.390625, 129.638671875, 69.78515625, -2.197265625, 0.3581661880016327 ]
2.4
72
0
72
0
[ -7.03125, 129.638671875, 111.005859375, 69.345703125, -1.93359375, 0.6768189668655396 ]
[ -14.94140625, 149.853515625, 126.650390625, 69.78515625, -2.197265625, 0.3581661880016327 ]
2.433333
73
0
73
0
[ -4.921875, 125.68359375, 107.841796875, 69.345703125, -1.93359375, 0.6768189668655396 ]
[ -13.095703125, 144.31640625, 123.837890625, 69.78515625, -2.197265625, 0.3581661880016327 ]
2.466667
74
0
74
0
[ -3.076171875, 121.9921875, 104.853515625, 69.345703125, -1.93359375, 0.6768189668655396 ]
[ -11.162109375, 139.39453125, 121.11328125, 69.78515625, -2.197265625, 0.3581661880016327 ]
2.5
75
0
75
0
[ -1.23046875, 118.388671875, 101.6015625, 69.345703125, -1.93359375, 0.6768189668655396 ]
[ -9.228515625, 134.6484375, 118.212890625, 69.78515625, -2.197265625, 0.3581661880016327 ]
2.533333
76
0
76
0
[ 0.3515625, 115.048828125, 98.525390625, 69.43359375, -1.93359375, 0.6768189668655396 ]
[ -7.20703125, 130.166015625, 115.13671875, 69.78515625, -2.197265625, 0.3581661880016327 ]
2.566667
77
0
77
0
[ 1.845703125, 111.796875, 95.44921875, 69.78515625, -1.93359375, 0.6768189668655396 ]
[ -5.361328125, 125.771484375, 112.1484375, 69.78515625, -2.197265625, 0.3581661880016327 ]
2.6
78
0
78
0
[ 3.076171875, 108.720703125, 92.28515625, 70.400390625, -1.93359375, 0.6768189668655396 ]
[ -3.515625, 121.728515625, 108.984375, 69.78515625, -2.197265625, 0.3581661880016327 ]
2.633333
79
0
79
0
[ 4.04296875, 105.8203125, 89.208984375, 71.279296875, -1.93359375, 0.6768189668655396 ]
[ -1.7578125, 117.685546875, 105.908203125, 69.78515625, -2.197265625, 0.3581661880016327 ]
2.666667
80
0
80
0
[ 4.74609375, 102.919921875, 85.95703125, 72.333984375, -1.93359375, 0.6768189668655396 ]
[ -0.263671875, 113.90625, 102.744140625, 69.9609375, -2.197265625, 0.3581661880016327 ]
2.7
81
0
81
0
[ 5.361328125, 100.107421875, 82.880859375, 73.564453125, -1.93359375, 0.6768189668655396 ]
[ 1.142578125, 110.390625, 99.580078125, 70.576171875, -2.197265625, 0.3581661880016327 ]
2.733333
82
0
82
0
[ 5.9765625, 97.294921875, 79.716796875, 74.8828125, -1.93359375, 0.6768189668655396 ]
[ 2.4609375, 106.962890625, 96.50390625, 71.455078125, -2.197265625, 0.3581661880016327 ]
2.766667
83
0
83
0
[ 6.50390625, 94.5703125, 76.46484375, 76.2890625, -1.93359375, 0.7614213228225708 ]
[ 3.515625, 103.798828125, 93.33984375, 72.24609375, -2.197265625, 0.3581661880016327 ]
2.8
84
0
84
0
[ 7.119140625, 91.845703125, 73.125, 77.783203125, -1.93359375, 0.7614213228225708 ]
[ 4.39453125, 100.72265625, 90.17578125, 73.388671875, -2.197265625, 0.3581661880016327 ]
2.833333
85
0
85
0
[ 7.734375, 89.296875, 69.78515625, 79.27734375, -1.93359375, 0.7614213228225708 ]
[ 5.09765625, 97.646484375, 87.099609375, 74.619140625, -2.197265625, 0.3581661880016327 ]
2.866667
86
0
86
0
[ 8.26171875, 86.66015625, 66.4453125, 80.947265625, -1.93359375, 0.7614213228225708 ]
[ 5.625, 94.658203125, 83.84765625, 75.849609375, -2.197265625, 0.3581661880016327 ]
2.9
87
0
87
0
[ 8.701171875, 84.111328125, 63.10546875, 82.44140625, -1.93359375, 0.7614213228225708 ]
[ 6.15234375, 91.845703125, 80.5078125, 77.255859375, -2.197265625, 0.3581661880016327 ]
2.933333
88
0
88
0
[ 9.140625, 81.474609375, 59.853515625, 83.935546875, -1.93359375, 0.7614213228225708 ]
[ 6.767578125, 89.033203125, 77.34375, 78.75, -2.197265625, 0.3581661880016327 ]
2.966667
89
0
89
0
[ 9.580078125, 78.837890625, 56.513671875, 85.341796875, -1.93359375, 0.7614213228225708 ]
[ 7.294921875, 86.220703125, 74.091796875, 80.244140625, -2.197265625, 0.3581661880016327 ]
3
90
0
90
0
[ 9.931640625, 76.46484375, 53.0859375, 86.66015625, -1.93359375, 0.7614213228225708 ]
[ 7.822265625, 83.49609375, 70.6640625, 81.650390625, -2.197265625, 0.3581661880016327 ]
3.033333
91
0
91
0
[ 10.283203125, 74.091796875, 49.833984375, 87.802734375, -1.93359375, 0.7614213228225708 ]
[ 8.4375, 80.859375, 67.587890625, 83.14453125, -2.197265625, 0.3581661880016327 ]
3.066667
92
0
92
0
[ 10.72265625, 71.806640625, 46.494140625, 88.9453125, -1.93359375, 0.846023678779602 ]
[ 8.876953125, 78.134765625, 64.072265625, 84.55078125, -2.197265625, 0.3581661880016327 ]
3.1
93
0
93
0
[ 10.986328125, 69.345703125, 43.505859375, 90, -1.93359375, 0.846023678779602 ]
[ 9.228515625, 75.498046875, 60.732421875, 85.869140625, -2.197265625, 0.3581661880016327 ]
3.133333
94
0
94
0
[ 11.25, 66.884765625, 40.693359375, 91.0546875, -1.93359375, 0.846023678779602 ]
[ 9.66796875, 73.037109375, 57.48046875, 87.099609375, -2.197265625, 0.3581661880016327 ]
3.166667
95
0
95
0
[ 11.513671875, 64.3359375, 37.96875, 92.109375, -2.109375, 0.9306260347366333 ]
[ 10.107421875, 70.48828125, 54.228515625, 88.330078125, -2.197265625, 0.3581661880016327 ]
3.2
96
0
96
0
[ 11.77734375, 61.875, 35.419921875, 93.33984375, -2.197265625, 1.0152283906936646 ]
[ 10.37109375, 68.115234375, 51.064453125, 89.384765625, -2.197265625, 0.3581661880016327 ]
3.233333
97
0
97
0
[ 12.12890625, 59.58984375, 33.046875, 94.482421875, -2.197265625, 1.692047357559204 ]
[ 10.72265625, 65.654296875, 47.98828125, 90.52734375, -2.197265625, 0.3581661880016327 ]
3.266667
98
0
98
0
[ 12.48046875, 57.48046875, 30.9375, 95.712890625, -2.021484375, 2.961082935333252 ]
[ 10.986328125, 63.193359375, 45, 91.58203125, -2.197265625, 0.3581661880016327 ]
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": 50,
    "total_frames": 17946,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
                480,
                640,
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        },
        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Size of downloaded dataset files:
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Number of rows:
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