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Datasets:
ZeroShotLaz
/
so100_bimanual_coffee

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
96.3
frame_index
int64
0
2.89k
episode_index
int64
0
3
index
int64
0
8.91k
task_index
int64
0
0
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[ 2.724609375, 132.099609375, 121.376953125, 83.408203125, -175.4296875, -5.257731914520264, 31.025390625, 105.64453125, 149.0625, -6.240234375, 94.39453125, 44.789581298828125 ]
[ 3.076171875, 132.275390625, 124.189453125, 83.583984375, -175.693359375, -3.013314723968506, 31.025390625, 107.490234375, 149.326171875, -3.427734375, 94.5703125, 43.92982482910156 ]
2.733333
82
0
82
0
[ 2.724609375, 132.01171875, 121.376953125, 83.408203125, -175.4296875, -5.257731914520264, 31.025390625, 104.677734375, 149.0625, -6.85546875, 94.482421875, 44.8897819519043 ]
[ 3.076171875, 132.275390625, 124.1015625, 83.583984375, -175.693359375, -3.013314723968506, 31.025390625, 106.69921875, 149.326171875, -4.130859375, 94.5703125, 44.140350341796875 ]
2.766667
83
0
83
0
[ 2.724609375, 131.8359375, 121.376953125, 83.3203125, -175.4296875, -5.257731914520264, 30.9375, 103.7109375, 149.0625, -7.646484375, 94.5703125, 45.090179443359375 ]
[ 3.076171875, 132.1875, 123.92578125, 83.583984375, -175.693359375, -3.013314723968506, 31.025390625, 105.908203125, 149.326171875, -4.833984375, 94.5703125, 44.421051025390625 ]
2.8
84
0
84
0
[ 2.724609375, 131.748046875, 121.376953125, 83.232421875, -175.4296875, -5.257731914520264, 30.849609375, 102.65625, 149.0625, -8.701171875, 94.74609375, 45.19038391113281 ]
[ 3.076171875, 132.099609375, 123.92578125, 83.583984375, -175.693359375, -3.013314723968506, 31.025390625, 104.94140625, 149.326171875, -5.44921875, 94.5703125, 44.561405181884766 ]
2.833333
85
0
85
0
[ 2.724609375, 131.66015625, 121.376953125, 83.14453125, -175.4296875, -5.257731914520264, 30.849609375, 101.42578125, 149.0625, -9.931640625, 94.921875, 45.19038391113281 ]
[ 3.076171875, 131.923828125, 123.92578125, 83.583984375, -175.693359375, -3.013314723968506, 31.025390625, 104.0625, 149.326171875, -6.240234375, 94.5703125, 44.77193069458008 ]
2.866667
86
0
86
0
[ 2.724609375, 131.484375, 121.376953125, 83.056640625, -175.4296875, -5.257731914520264, 30.849609375, 99.931640625, 148.88671875, -11.42578125, 95.009765625, 45.19038391113281 ]
[ 3.076171875, 131.748046875, 123.92578125, 83.583984375, -175.693359375, -3.013314723968506, 31.025390625, 103.095703125, 149.326171875, -7.20703125, 94.5703125, 44.842105865478516 ]
2.9
87
0
87
0
[ 2.724609375, 131.396484375, 121.201171875, 83.056640625, -175.4296875, -5.257731914520264, 30.849609375, 98.61328125, 148.359375, -12.12890625, 95.009765625, 45.19038391113281 ]
[ 3.076171875, 131.748046875, 123.92578125, 83.583984375, -175.693359375, -3.013314723968506, 31.025390625, 102.041015625, 149.326171875, -8.26171875, 94.5703125, 44.842105865478516 ]
2.933333
88
0
88
0
[ 2.724609375, 131.220703125, 121.11328125, 83.056640625, -175.4296875, -5.257731914520264, 30.849609375, 97.294921875, 148.095703125, -13.271484375, 95.185546875, 45.19038391113281 ]
[ 3.076171875, 131.66015625, 123.92578125, 83.583984375, -175.693359375, -3.013314723968506, 31.025390625, 100.72265625, 149.326171875, -9.4921875, 94.5703125, 44.91228103637695 ]
2.966667
89
0
89
0
[ 2.724609375, 131.1328125, 120.9375, 83.056640625, -175.4296875, -5.257731914520264, 30.9375, 95.888671875, 147.83203125, -14.677734375, 95.185546875, 45.19038391113281 ]
[ 3.076171875, 131.484375, 123.837890625, 83.583984375, -175.693359375, -3.013314723968506, 31.025390625, 99.31640625, 149.326171875, -10.458984375, 94.5703125, 44.91228103637695 ]
3
90
0
90
0
[ 2.724609375, 131.044921875, 120.849609375, 83.056640625, -175.4296875, -5.257731914520264, 31.11328125, 94.658203125, 147.3046875, -15.380859375, 95.185546875, 45.19038391113281 ]
[ 3.076171875, 131.30859375, 123.662109375, 83.583984375, -175.693359375, -3.013314723968506, 31.025390625, 97.998046875, 149.326171875, -11.513671875, 94.658203125, 44.91228103637695 ]
3.033333
91
0
91
0
[ 2.8125, 130.95703125, 120.76171875, 83.056640625, -175.4296875, -5.257731914520264, 31.46484375, 93.427734375, 146.6015625, -16.171875, 94.74609375, 45.19038391113281 ]
[ 3.076171875, 131.220703125, 123.486328125, 83.583984375, -175.693359375, -3.013314723968506, 31.025390625, 96.591796875, 149.326171875, -12.744140625, 94.833984375, 44.91228103637695 ]
3.066667
92
0
92
0
[ 2.8125, 130.95703125, 120.5859375, 83.056640625, -175.4296875, -5.257731914520264, 31.81640625, 92.548828125, 145.810546875, -16.787109375, 94.130859375, 44.68937683105469 ]
[ 3.076171875, 131.1328125, 123.3984375, 83.583984375, -175.693359375, -3.013314723968506, 31.025390625, 95.361328125, 149.150390625, -13.623046875, 94.833984375, 44.91228103637695 ]
3.1
93
0
93
0
[ 2.900390625, 130.869140625, 120.498046875, 83.056640625, -175.4296875, -5.257731914520264, 32.16796875, 91.669921875, 144.755859375, -16.787109375, 93.603515625, 44.188377380371094 ]
[ 3.076171875, 131.044921875, 123.310546875, 83.583984375, -175.693359375, -3.013314723968506, 31.025390625, 93.955078125, 148.974609375, -14.501953125, 94.833984375, 44.91228103637695 ]
3.133333
94
0
94
0
[ 2.98828125, 130.869140625, 120.41015625, 83.056640625, -175.4296875, -5.257731914520264, 32.34375, 90.966796875, 143.96484375, -16.611328125, 93.33984375, 43.88777542114258 ]
[ 3.076171875, 131.044921875, 123.134765625, 83.583984375, -175.693359375, -3.013314723968506, 31.2890625, 92.900390625, 148.447265625, -15.1171875, 94.482421875, 44.91228103637695 ]
3.166667
95
0
95
0
[ 2.98828125, 130.869140625, 120.322265625, 83.056640625, -175.4296875, -5.257731914520264, 32.431640625, 90.52734375, 143.525390625, -16.962890625, 93.251953125, 43.787574768066406 ]
[ 3.076171875, 131.044921875, 123.046875, 83.583984375, -175.693359375, -3.013314723968506, 31.640625, 91.93359375, 147.65625, -15.46875, 94.130859375, 44.842105865478516 ]
3.2
96
0
96
0
[ 3.076171875, 130.869140625, 120.322265625, 83.056640625, -175.4296875, -5.257731914520264, 32.51953125, 90.263671875, 143.0859375, -17.05078125, 93.251953125, 43.58717346191406 ]
[ 3.076171875, 131.044921875, 122.87109375, 83.583984375, -175.693359375, -3.013314723968506, 32.16796875, 91.142578125, 146.77734375, -15.64453125, 93.8671875, 44.49123001098633 ]
3.233333
97
0
97
0
[ 3.076171875, 130.869140625, 120.322265625, 83.14453125, -175.4296875, -5.257731914520264, 32.607421875, 90.263671875, 142.734375, -16.787109375, 93.076171875, 43.38677215576172 ]
[ 3.076171875, 131.044921875, 122.87109375, 83.583984375, -175.693359375, -3.013314723968506, 32.34375, 90.52734375, 146.25, -15.908203125, 93.69140625, 44.28070068359375 ]
3.266667
98
0
98
0
[ 3.076171875, 130.869140625, 120.322265625, 83.232421875, -175.4296875, -5.257731914520264, 32.607421875, 90.263671875, 142.55859375, -17.05078125, 92.900390625, 42.9859733581543 ]
[ 3.076171875, 131.044921875, 122.87109375, 83.583984375, -175.693359375, -3.013314723968506, 32.431640625, 90.263671875, 145.810546875, -16.083984375, 93.603515625, 44 ]
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": 4,
    "total_frames": 8908,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:4"
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    "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": {
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            "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
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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.images.laptop": {
            "dtype": "video",
            "shape": [
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                640,
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            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
                "has_audio": false
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        },
        "timestamp": {
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            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "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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Size of the auto-converted Parquet files:
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Number of rows:
8,908