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Datasets:
Mehul2112
/
so100_black_cube_v2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
so101
lerobot
pick-and-place
dual-camera
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
 Community
Dataset Viewer
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action
list
observation.state
list
timestamp
float32
0
19.9
frame_index
int64
0
598
episode_index
int64
0
29
index
int64
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11.8k
task_index
int64
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3.3
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End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "fps": 30,
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
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        },
        "observation.state": {
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            "names": [
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                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
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        },
        "observation.images.front": {
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            "shape": [
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            "names": [
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
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    },
    "total_episodes": 30,
    "total_frames": 11817,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "robot_type": "so_follower",
    "splits": {
        "train": "0:30"
    }
}

Citation

BibTeX:

[More Information Needed]

Sample frames

30 episodes, two cameras (front, ee/wrist) at 1280x720@30fps. Task: Pick the cube and drop in the box.

Top row: front camera. Bottom row: wrist camera. One full pick-and-drop episode:

sample frames

Front camera:

front

Wrist camera:

wrist
Downloads last month
86
License:
apache-2.0
Number of rows:
11,817
Total file size:
212 MB