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Datasets:
SahilChande
/
so100_pick

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
29.8
frame_index
int64
0
893
episode_index
int64
0
1
index
int64
0
1.79k
task_index
int64
0
0
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[ -5.2734375, 159.609375, 112.587890625, 69.697265625, -5.80078125, 0.105596624314785 ]
[ -5.80078125, 165.5859375, 118.30078125, 68.37890625, -5.44921875, 0.09832841902971268 ]
2.4
72
0
72
0
[ -5.2734375, 158.203125, 111.97265625, 69.9609375, -5.537109375, 0.105596624314785 ]
[ -5.712890625, 163.740234375, 117.24609375, 68.90625, -5.537109375, 0.09832841902971268 ]
2.433333
73
0
73
0
[ -5.185546875, 156.97265625, 111.62109375, 70.13671875, -5.537109375, 0.105596624314785 ]
[ -5.625, 161.982421875, 116.19140625, 69.521484375, -5.537109375, 0.09832841902971268 ]
2.466667
74
0
74
0
[ -5.185546875, 155.390625, 111.09375, 70.927734375, -5.888671875, 0.105596624314785 ]
[ -5.625, 160.3125, 115.3125, 69.78515625, -5.537109375, 0.09832841902971268 ]
2.5
75
0
75
0
[ -5.185546875, 153.45703125, 110.21484375, 72.24609375, -6.328125, 0.105596624314785 ]
[ -5.625, 158.90625, 114.697265625, 70.3125, -5.537109375, 0.09832841902971268 ]
2.533333
76
0
76
0
[ -5.09765625, 150.908203125, 108.80859375, 74.1796875, -6.85546875, 0.105596624314785 ]
[ -5.625, 157.412109375, 114.08203125, 71.103515625, -5.537109375, 0.09832841902971268 ]
2.566667
77
0
77
0
[ -5.009765625, 148.0078125, 107.05078125, 76.201171875, -6.767578125, 0.105596624314785 ]
[ -5.625, 155.7421875, 113.37890625, 72.24609375, -5.9765625, 0.09832841902971268 ]
2.6
78
0
78
0
[ -4.74609375, 145.1953125, 105.380859375, 77.783203125, -6.328125, 0.5279831290245056 ]
[ -5.537109375, 153.6328125, 112.236328125, 74.00390625, -6.328125, 0.09832841902971268 ]
2.633333
79
0
79
0
[ -4.5703125, 142.3828125, 103.53515625, 79.453125, -6.064453125, 1.0559662580490112 ]
[ -5.2734375, 150.908203125, 110.830078125, 75.673828125, -6.328125, 0.09832841902971268 ]
2.666667
80
0
80
0
[ -5.009765625, 138.603515625, 100.72265625, 82.353515625, -6.85546875, 1.1615628004074097 ]
[ -5.185546875, 148.18359375, 109.423828125, 77.080078125, -6.328125, 0.29498523473739624 ]
2.7
81
0
81
0
[ -5.888671875, 134.12109375, 97.646484375, 85.517578125, -8.0859375, 1.0559662580490112 ]
[ -5.009765625, 145.72265625, 107.666015625, 79.1015625, -6.328125, 0.5899704694747925 ]
2.733333
82
0
82
0
[ -6.50390625, 129.638671875, 94.5703125, 88.505859375, -9.052734375, 0.739176332950592 ]
[ -5.09765625, 142.822265625, 105.732421875, 81.650390625, -6.591796875, 0.6882989406585693 ]
2.766667
83
0
83
0
[ -6.767578125, 125.947265625, 91.93359375, 90.615234375, -9.404296875, 0.739176332950592 ]
[ -5.44921875, 139.39453125, 103.271484375, 84.19921875, -7.3828125, 0.6882989406585693 ]
2.8
84
0
84
0
[ -6.6796875, 123.75, 90.439453125, 91.23046875, -9.404296875, 0.739176332950592 ]
[ -5.9765625, 135.615234375, 100.72265625, 86.923828125, -8.173828125, 0.6882989406585693 ]
2.833333
85
0
85
0
[ -6.50390625, 123.046875, 89.82421875, 91.0546875, -9.404296875, 0.739176332950592 ]
[ -6.591796875, 131.748046875, 97.998046875, 88.76953125, -8.61328125, 0.6882989406585693 ]
2.866667
86
0
86
0
[ -6.591796875, 123.046875, 89.560546875, 90.615234375, -9.4921875, 0.739176332950592 ]
[ -6.85546875, 128.3203125, 95.537109375, 89.6484375, -8.876953125, 0.6882989406585693 ]
2.9
87
0
87
0
[ -7.03125, 123.134765625, 89.208984375, 90.439453125, -10.107421875, 0.739176332950592 ]
[ -6.85546875, 125.859375, 94.21875, 89.82421875, -8.96484375, 0.6882989406585693 ]
2.933333
88
0
88
0
[ -7.734375, 123.046875, 88.681640625, 90.439453125, -10.72265625, 0.739176332950592 ]
[ -6.591796875, 124.62890625, 93.515625, 90, -9.228515625, 0.6882989406585693 ]
2.966667
89
0
89
0
[ -8.349609375, 122.87109375, 88.2421875, 90.703125, -11.162109375, 0.739176332950592 ]
[ -6.591796875, 124.013671875, 92.900390625, 90.17578125, -9.66796875, 0.6882989406585693 ]
3
90
0
90
0
[ -8.61328125, 122.607421875, 87.71484375, 90.966796875, -11.162109375, 0.739176332950592 ]
[ -7.294921875, 123.57421875, 92.109375, 90.439453125, -10.107421875, 0.6882989406585693 ]
3.033333
91
0
91
0
[ -8.61328125, 122.6953125, 87.626953125, 90.966796875, -11.162109375, 0.739176332950592 ]
[ -8.349609375, 123.134765625, 91.318359375, 90.615234375, -10.546875, 0.6882989406585693 ]
3.066667
92
0
92
0
[ -8.61328125, 122.958984375, 87.626953125, 90.966796875, -11.162109375, 0.739176332950592 ]
[ -8.525390625, 122.783203125, 90.791015625, 90.703125, -10.72265625, 0.6882989406585693 ]
3.1
93
0
93
0
[ -8.4375, 123.134765625, 87.626953125, 90.87890625, -10.986328125, 0.739176332950592 ]
[ -8.4375, 122.783203125, 90.615234375, 90.791015625, -10.8984375, 0.6882989406585693 ]
3.133333
94
0
94
0
[ -8.26171875, 123.22265625, 87.626953125, 90.87890625, -10.8984375, 0.739176332950592 ]
[ -7.734375, 122.783203125, 90.439453125, 90.87890625, -10.8984375, 0.6882989406585693 ]
3.166667
95
0
95
0
[ -8.0859375, 123.22265625, 87.626953125, 90.791015625, -10.810546875, 0.6335797309875488 ]
[ -7.822265625, 122.783203125, 90.3515625, 90.87890625, -10.8984375, 0.6882989406585693 ]
3.2
96
0
96
0
[ -7.91015625, 123.310546875, 87.890625, 90.439453125, -10.8984375, 0.6335797309875488 ]
[ -8.173828125, 122.783203125, 90.3515625, 90.87890625, -10.8984375, 0.6882989406585693 ]
3.233333
97
0
97
0
[ -7.734375, 123.310546875, 87.978515625, 89.82421875, -10.986328125, 0.6335797309875488 ]
[ -8.525390625, 122.783203125, 90.3515625, 90.87890625, -10.8984375, 0.6882989406585693 ]
3.266667
98
0
98
0
[ -7.55859375, 123.22265625, 88.06640625, 89.208984375, -10.986328125, 0.6335797309875488 ]
[ -8.4375, 122.783203125, 90.3515625, 90.791015625, -10.8984375, 0.6882989406585693 ]
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": 1788,
    "total_tasks": 1,
    "total_videos": 2,
    "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": [
                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.arm_camera": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "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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            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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