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Datasets:
apayan
/
so100_dice5

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
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action
sequence
observation.state
sequence
timestamp
float32
0
32.8
frame_index
int64
0
656
episode_index
int64
0
4
index
int64
0
2.88k
task_index
int64
0
0
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0.6
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0.65
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1
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1.05
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1.1
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2.15
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2.2
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2.25
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2.3
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2.35
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2.4
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2.45
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2.5
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2.55
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2.6
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2.65
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2.7
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2.75
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2.8
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2.85
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57
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2.9
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2.95
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0
59
0
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3
60
0
60
0
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3.05
61
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61
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3.1
62
0
62
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3.15
63
0
63
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3.2
64
0
64
0
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3.25
65
0
65
0
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[ 61.5234375, 90.615234375, 102.744140625, 6.6796875, -88.681640625, 42.1768684387207 ]
3.3
66
0
66
0
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3.35
67
0
67
0
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[ 60.029296875, 92.4609375, 102.65625, 6.6796875, -88.681640625, 42.1768684387207 ]
3.4
68
0
68
0
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[ 59.0625, 92.4609375, 102.65625, 6.6796875, -88.681640625, 42.1768684387207 ]
3.45
69
0
69
0
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[ 58.18359375, 92.4609375, 102.65625, 6.6796875, -88.681640625, 42.1768684387207 ]
3.5
70
0
70
0
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3.55
71
0
71
0
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3.6
72
0
72
0
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[ 56.6015625, 92.548828125, 102.65625, 6.6796875, -88.681640625, 42.1768684387207 ]
3.65
73
0
73
0
[ 54.4921875, 95.185546875, 102.392578125, 6.064453125, -89.033203125, 42.37749481201172 ]
[ 55.986328125, 92.548828125, 102.65625, 6.6796875, -88.681640625, 42.1768684387207 ]
3.7
74
0
74
0
[ 54.052734375, 95.185546875, 102.392578125, 6.064453125, -89.033203125, 42.37749481201172 ]
[ 55.1953125, 92.548828125, 102.65625, 6.6796875, -88.681640625, 42.1768684387207 ]
3.75
75
0
75
0
[ 53.61328125, 95.09765625, 102.48046875, 6.064453125, -89.033203125, 42.37749481201172 ]
[ 54.4921875, 92.548828125, 102.65625, 6.6796875, -88.681640625, 42.1768684387207 ]
3.8
76
0
76
0
[ 53.26171875, 95.009765625, 102.48046875, 6.064453125, -89.033203125, 42.37749481201172 ]
[ 54.140625, 92.548828125, 102.65625, 6.6796875, -88.681640625, 42.1768684387207 ]
3.85
77
0
77
0
[ 52.998046875, 95.009765625, 102.48046875, 6.15234375, -89.033203125, 42.37749481201172 ]
[ 54.052734375, 92.548828125, 102.65625, 6.6796875, -88.681640625, 42.1768684387207 ]
3.9
78
0
78
0
[ 52.646484375, 94.921875, 102.568359375, 6.15234375, -89.033203125, 42.37749481201172 ]
[ 53.7890625, 92.548828125, 102.65625, 6.6796875, -88.681640625, 42.1768684387207 ]
3.95
79
0
79
0
[ 52.3828125, 94.833984375, 102.65625, 6.15234375, -89.033203125, 42.37749481201172 ]
[ 53.26171875, 92.548828125, 102.744140625, 6.6796875, -88.681640625, 42.1768684387207 ]
4
80
0
80
0
[ 52.119140625, 94.833984375, 102.65625, 6.15234375, -89.033203125, 42.37749481201172 ]
[ 52.646484375, 92.548828125, 102.919921875, 6.6796875, -88.681640625, 42.1768684387207 ]
4.05
81
0
81
0
[ 51.85546875, 94.833984375, 102.83203125, 6.15234375, -88.9453125, 42.37749481201172 ]
[ 52.3828125, 92.548828125, 102.919921875, 6.6796875, -88.681640625, 42.1768684387207 ]
4.1
82
0
82
0
[ 51.591796875, 94.833984375, 103.0078125, 6.15234375, -88.9453125, 42.37749481201172 ]
[ 52.3828125, 92.548828125, 103.0078125, 6.6796875, -88.681640625, 42.1768684387207 ]
4.15
83
0
83
0
[ 51.416015625, 94.833984375, 103.0078125, 6.15234375, -89.033203125, 42.37749481201172 ]
[ 52.3828125, 92.548828125, 103.18359375, 6.6796875, -88.681640625, 42.1768684387207 ]
4.2
84
0
84
0
[ 51.240234375, 94.74609375, 103.0078125, 6.15234375, -89.033203125, 42.37749481201172 ]
[ 52.03125, 92.4609375, 103.271484375, 6.6796875, -88.681640625, 42.1768684387207 ]
4.25
85
0
85
0
[ 51.064453125, 94.658203125, 103.0078125, 6.15234375, -89.033203125, 42.37749481201172 ]
[ 51.416015625, 92.548828125, 103.271484375, 6.6796875, -88.681640625, 42.1768684387207 ]
4.3
86
0
86
0
[ 50.888671875, 94.482421875, 103.0078125, 6.15234375, -89.033203125, 42.37749481201172 ]
[ 51.240234375, 92.548828125, 103.271484375, 6.6796875, -88.681640625, 42.1768684387207 ]
4.35
87
0
87
0
[ 50.712890625, 94.482421875, 103.0078125, 6.064453125, -89.033203125, 42.37749481201172 ]
[ 51.416015625, 92.548828125, 103.271484375, 6.6796875, -88.681640625, 42.1768684387207 ]
4.4
88
0
88
0
[ 50.537109375, 94.306640625, 103.0078125, 6.064453125, -89.033203125, 42.37749481201172 ]
[ 51.50390625, 92.548828125, 103.271484375, 6.6796875, -88.681640625, 42.1768684387207 ]
4.45
89
0
89
0
[ 50.2734375, 94.21875, 103.0078125, 5.9765625, -89.033203125, 42.37749481201172 ]
[ 51.064453125, 92.548828125, 103.271484375, 6.6796875, -88.681640625, 42.1768684387207 ]
4.5
90
0
90
0
[ 50.09765625, 94.130859375, 103.0078125, 5.9765625, -89.033203125, 42.37749481201172 ]
[ 50.361328125, 92.548828125, 103.271484375, 6.6796875, -88.681640625, 42.1768684387207 ]
4.55
91
0
91
0
[ 49.833984375, 94.130859375, 103.0078125, 5.9765625, -89.033203125, 42.37749481201172 ]
[ 50.2734375, 92.548828125, 103.271484375, 6.6796875, -88.681640625, 42.1768684387207 ]
4.6
92
0
92
0
[ 49.5703125, 94.04296875, 103.0078125, 5.9765625, -89.033203125, 42.37749481201172 ]
[ 50.537109375, 92.548828125, 103.271484375, 6.6796875, -88.681640625, 42.1768684387207 ]
4.65
93
0
93
0
[ 49.306640625, 93.955078125, 103.0078125, 5.80078125, -89.033203125, 42.37749481201172 ]
[ 50.44921875, 92.548828125, 103.271484375, 6.6796875, -88.681640625, 42.1768684387207 ]
4.7
94
0
94
0
[ 49.130859375, 93.779296875, 103.0078125, 5.80078125, -89.033203125, 42.37749481201172 ]
[ 49.833984375, 92.548828125, 103.271484375, 6.6796875, -88.681640625, 42.1768684387207 ]
4.75
95
0
95
0
[ 48.955078125, 93.69140625, 103.0078125, 5.712890625, -89.033203125, 42.37749481201172 ]
[ 49.306640625, 92.548828125, 103.271484375, 6.6796875, -88.681640625, 42.1768684387207 ]
4.8
96
0
96
0
[ 48.69140625, 93.515625, 103.0078125, 5.712890625, -89.033203125, 42.37749481201172 ]
[ 49.21875, 92.548828125, 103.271484375, 6.6796875, -88.681640625, 42.1768684387207 ]
4.85
97
0
97
0
[ 48.515625, 93.33984375, 103.0078125, 5.712890625, -89.033203125, 42.37749481201172 ]
[ 49.482421875, 92.548828125, 103.271484375, 6.6796875, -88.681640625, 42.1768684387207 ]
4.9
98
0
98
0
[ 48.427734375, 93.1640625, 103.0078125, 5.712890625, -89.033203125, 42.37749481201172 ]
[ 49.306640625, 92.548828125, 103.271484375, 6.6796875, -88.681640625, 42.1768684387207 ]
4.95
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": 5,
    "total_frames": 2881,
    "total_tasks": 1,
    "total_videos": 15,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 20,
    "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": {
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            "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.top": {
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            "names": [
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                "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.front": {
            "dtype": "video",
            "shape": [
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                640,
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            ],
            "names": [
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            "info": {
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                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
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        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
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                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 20.0,
                "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": [
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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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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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