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Datasets:
ZeroShotLaz
/
so100_bimanual

Tasks:
Robotics
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Tabular
Time-series
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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
29.9
frame_index
int64
0
896
episode_index
int64
0
4
index
int64
0
4.02k
task_index
int64
0
0
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[ -10.8984375, 146.162109375, 137.900390625, 63.896484375, -79.1015625, -5.257731914520264, 15.908203125, 149.23828125, 116.630859375, 80.771484375, 93.427734375, -3.006011962890625 ]
[ -9.4921875, 152.05078125, 145.01953125, 63.6328125, -79.453125, -3.153468608856201, 14.150390625, 164.267578125, 132.978515625, 78.75, 94.921875, -1.5438597202301025 ]
2.7
81
0
81
0
[ -11.513671875, 144.580078125, 136.23046875, 63.984375, -79.1015625, -5.257731914520264, 16.611328125, 148.095703125, 116.015625, 79.98046875, 93.515625, -3.006011962890625 ]
[ -9.84375, 150.1171875, 143.61328125, 63.6328125, -79.453125, -3.153468608856201, 14.677734375, 159.521484375, 128.3203125, 79.541015625, 94.39453125, -1.5438597202301025 ]
2.733333
82
0
82
0
[ -11.953125, 142.822265625, 134.384765625, 63.984375, -78.92578125, -5.257731914520264, 17.40234375, 147.65625, 116.015625, 78.92578125, 93.955078125, -3.006011962890625 ]
[ -10.283203125, 148.359375, 142.03125, 63.6328125, -79.453125, -3.153468608856201, 15.29296875, 155.302734375, 124.453125, 79.892578125, 94.130859375, -1.5438597202301025 ]
2.766667
83
0
83
0
[ -12.3046875, 140.625, 132.01171875, 64.3359375, -78.92578125, -5.257731914520264, 18.193359375, 146.865234375, 116.015625, 77.958984375, 94.74609375, -3.006011962890625 ]
[ -10.810546875, 146.689453125, 140.44921875, 63.6328125, -79.453125, -3.153468608856201, 15.8203125, 152.05078125, 121.904296875, 79.8046875, 94.04296875, -1.5438597202301025 ]
2.8
84
0
84
0
[ -12.83203125, 138.076171875, 129.287109375, 65.21484375, -79.365234375, -5.257731914520264, 18.984375, 145.810546875, 115.927734375, 76.552734375, 95.44921875, -3.006011962890625 ]
[ -11.25, 144.931640625, 138.8671875, 63.6328125, -79.365234375, -3.153468608856201, 16.5234375, 150.1171875, 120.673828125, 79.365234375, 94.04296875, -1.5438597202301025 ]
2.833333
85
0
85
0
[ -13.271484375, 135, 126.2109375, 65.654296875, -79.453125, -5.257731914520264, 19.599609375, 144.140625, 115.048828125, 75.673828125, 96.240234375, -3.006011962890625 ]
[ -11.6015625, 142.998046875, 136.845703125, 63.896484375, -79.27734375, -3.153468608856201, 17.40234375, 148.88671875, 119.970703125, 78.837890625, 94.482421875, -1.5438597202301025 ]
2.866667
86
0
86
0
[ -13.798828125, 131.66015625, 122.958984375, 66.26953125, -79.892578125, -5.257731914520264, 20.478515625, 141.328125, 112.939453125, 75.673828125, 96.767578125, -3.006011962890625 ]
[ -12.041015625, 140.888671875, 134.560546875, 64.51171875, -79.365234375, -3.153468608856201, 18.193359375, 147.744140625, 119.35546875, 77.87109375, 95.009765625, -1.5438597202301025 ]
2.9
87
0
87
0
[ -14.4140625, 128.671875, 120.146484375, 66.796875, -80.771484375, -5.257731914520264, 21.357421875, 137.63671875, 110.21484375, 76.376953125, 97.470703125, -3.006011962890625 ]
[ -12.568359375, 138.33984375, 132.01171875, 65.0390625, -79.453125, -3.153468608856201, 18.80859375, 146.25, 118.388671875, 77.16796875, 95.537109375, -1.5438597202301025 ]
2.933333
88
0
88
0
[ -14.94140625, 125.595703125, 117.509765625, 66.796875, -81.2109375, -5.257731914520264, 22.587890625, 134.033203125, 107.314453125, 77.431640625, 98.26171875, -3.006011962890625 ]
[ -13.095703125, 135.52734375, 129.375, 65.56640625, -79.62890625, -3.153468608856201, 19.423828125, 144.228515625, 117.0703125, 76.904296875, 96.15234375, -1.5438597202301025 ]
2.966667
89
0
89
0
[ -14.94140625, 122.34375, 114.609375, 66.796875, -81.73828125, -5.257731914520264, 23.73046875, 130.60546875, 104.4140625, 78.134765625, 98.525390625, -3.006011962890625 ]
[ -13.623046875, 132.451171875, 126.38671875, 66.09375, -80.068359375, -3.153468608856201, 20.302734375, 141.328125, 114.9609375, 76.904296875, 96.6796875, -1.5438597202301025 ]
3
90
0
90
0
[ -14.94140625, 119.267578125, 112.1484375, 67.1484375, -82.96875, -5.257731914520264, 24.78515625, 127.265625, 101.77734375, 78.57421875, 98.525390625, -3.006011962890625 ]
[ -14.0625, 129.638671875, 123.57421875, 66.26953125, -80.33203125, -3.153468608856201, 21.26953125, 138.33984375, 112.5, 77.34375, 97.20703125, -1.5438597202301025 ]
3.033333
91
0
91
0
[ -14.765625, 116.89453125, 109.86328125, 67.236328125, -84.0234375, -5.257731914520264, 25.83984375, 124.8046875, 99.755859375, 79.013671875, 98.96484375, -3.006011962890625 ]
[ -14.501953125, 126.5625, 120.76171875, 66.4453125, -80.859375, -3.153468608856201, 22.587890625, 135.17578125, 109.951171875, 77.87109375, 97.734375, -1.5438597202301025 ]
3.066667
92
0
92
0
[ -14.4140625, 114.697265625, 107.75390625, 67.236328125, -84.990234375, -5.257731914520264, 26.89453125, 123.310546875, 98.701171875, 78.92578125, 99.4921875, -3.006011962890625 ]
[ -14.765625, 123.486328125, 118.037109375, 66.708984375, -81.73828125, -3.153468608856201, 23.642578125, 132.01171875, 107.314453125, 78.22265625, 97.998046875, -1.5438597202301025 ]
3.1
93
0
93
0
[ -13.798828125, 112.763671875, 105.8203125, 66.97265625, -85.517578125, -5.257731914520264, 27.94921875, 122.607421875, 98.349609375, 78.310546875, 99.931640625, -3.006011962890625 ]
[ -14.853515625, 120.41015625, 115.48828125, 66.884765625, -82.880859375, -3.153468608856201, 24.609375, 128.84765625, 104.853515625, 78.57421875, 98.4375, -1.5438597202301025 ]
3.133333
94
0
94
0
[ -13.18359375, 110.830078125, 104.326171875, 66.533203125, -86.220703125, -5.257731914520264, 29.091796875, 122.16796875, 98.4375, 77.51953125, 100.107421875, -3.006011962890625 ]
[ -14.765625, 117.685546875, 113.115234375, 66.884765625, -83.671875, -3.153468608856201, 25.400390625, 126.298828125, 103.18359375, 78.57421875, 98.96484375, -1.5438597202301025 ]
3.166667
95
0
95
0
[ -12.568359375, 108.80859375, 103.18359375, 65.56640625, -86.396484375, -5.257731914520264, 30.498046875, 121.640625, 98.7890625, 76.552734375, 100.1953125, -3.006011962890625 ]
[ -14.4140625, 115.224609375, 110.830078125, 66.884765625, -84.375, -3.153468608856201, 26.455078125, 124.62890625, 102.392578125, 78.57421875, 99.31640625, -1.5438597202301025 ]
3.2
96
0
96
0
[ -11.865234375, 106.787109375, 102.216796875, 64.248046875, -86.484375, -5.257731914520264, 31.9921875, 120.673828125, 98.7890625, 75.41015625, 99.580078125, -3.006011962890625 ]
[ -13.88671875, 113.02734375, 108.984375, 66.884765625, -85.078125, -3.153468608856201, 27.59765625, 123.486328125, 102.041015625, 78.134765625, 99.580078125, -1.5438597202301025 ]
3.233333
97
0
97
0
[ -11.162109375, 104.4140625, 100.72265625, 63.369140625, -86.484375, -5.257731914520264, 33.57421875, 119.619140625, 98.7890625, 73.916015625, 98.525390625, -3.006011962890625 ]
[ -13.447265625, 110.91796875, 107.40234375, 66.26953125, -85.517578125, -3.153468608856201, 29.00390625, 122.51953125, 101.865234375, 77.51953125, 99.755859375, -1.5438597202301025 ]
3.266667
98
0
98
0
[ -10.37109375, 102.041015625, 98.7890625, 63.28125, -86.484375, -5.257731914520264, 34.98046875, 118.4765625, 98.876953125, 72.0703125, 97.734375, -3.006011962890625 ]
[ -12.83203125, 108.720703125, 106.083984375, 65.390625, -85.78125, -3.153468608856201, 30.41015625, 121.552734375, 101.689453125, 76.640625, 99.755859375, -1.5438597202301025 ]
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_bimanual",
    "total_episodes": 5,
    "total_frames": 4025,
    "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": [
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            ],
            "names": [
                "left_shoulder_pan",
                "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": {
            "dtype": "float32",
            "shape": [
                12
            ],
            "names": [
                "left_shoulder_pan",
                "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.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": {
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            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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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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Size of the auto-converted Parquet files:
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Number of rows:
4,025