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Datasets:
dc2ac
/
so100_t4

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
17.5
frame_index
int64
0
525
episode_index
int64
0
1
index
int64
0
1.05k
task_index
int64
0
0
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[ 77.255859375, 85.60546875, 70.576171875, 86.923828125, 50.009765625, 46.03739929199219 ]
[ 76.81640625, 84.7265625, 69.9609375, 85.693359375, 49.921875, 53.91666793823242 ]
2.6
78
0
78
0
[ 77.255859375, 85.60546875, 70.576171875, 86.923828125, 49.921875, 43.09884262084961 ]
[ 76.81640625, 84.7265625, 69.9609375, 85.78125, 49.921875, 52.08333206176758 ]
2.633333
79
0
79
0
[ 77.255859375, 85.60546875, 70.576171875, 86.923828125, 49.921875, 40.16028594970703 ]
[ 76.81640625, 84.7265625, 69.9609375, 85.78125, 49.921875, 50 ]
2.666667
80
0
80
0
[ 77.255859375, 85.60546875, 70.576171875, 86.923828125, 49.833984375, 37.31077575683594 ]
[ 76.81640625, 84.7265625, 69.9609375, 85.78125, 49.74609375, 47.66666793823242 ]
2.7
81
0
81
0
[ 77.255859375, 85.60546875, 70.6640625, 86.923828125, 49.833984375, 34.37221908569336 ]
[ 76.81640625, 84.7265625, 69.9609375, 85.78125, 49.39453125, 45.33333206176758 ]
2.733333
82
0
82
0
[ 77.255859375, 85.60546875, 70.6640625, 86.923828125, 49.833984375, 31.700801849365234 ]
[ 76.81640625, 84.7265625, 69.9609375, 85.78125, 49.39453125, 42.66666793823242 ]
2.766667
83
0
83
0
[ 77.255859375, 85.60546875, 70.6640625, 86.923828125, 49.833984375, 29.20747947692871 ]
[ 76.81640625, 84.814453125, 69.9609375, 85.78125, 49.306640625, 40 ]
2.8
84
0
84
0
[ 77.255859375, 85.60546875, 70.6640625, 86.923828125, 49.833984375, 26.71415901184082 ]
[ 76.81640625, 84.814453125, 69.9609375, 85.78125, 49.306640625, 37.41666793823242 ]
2.833333
85
0
85
0
[ 77.16796875, 85.60546875, 70.6640625, 86.923828125, 49.833984375, 24.3989315032959 ]
[ 76.81640625, 84.814453125, 69.9609375, 85.693359375, 49.306640625, 34.83333206176758 ]
2.866667
86
0
86
0
[ 77.080078125, 85.60546875, 70.6640625, 86.923828125, 49.833984375, 22.172752380371094 ]
[ 76.81640625, 84.90234375, 69.9609375, 85.60546875, 49.306640625, 32.41666793823242 ]
2.9
87
0
87
0
[ 76.9921875, 85.60546875, 70.6640625, 86.923828125, 49.833984375, 20.124666213989258 ]
[ 76.81640625, 84.990234375, 69.9609375, 85.517578125, 49.306640625, 30 ]
2.933333
88
0
88
0
[ 76.904296875, 85.60546875, 70.6640625, 86.923828125, 49.833984375, 18.16562843322754 ]
[ 76.728515625, 84.990234375, 69.9609375, 85.4296875, 49.306640625, 27.75 ]
2.966667
89
0
89
0
[ 76.81640625, 85.60546875, 70.6640625, 86.8359375, 49.833984375, 16.38468360900879 ]
[ 76.552734375, 85.078125, 69.9609375, 85.341796875, 49.306640625, 25.66666603088379 ]
3
90
0
90
0
[ 76.640625, 85.60546875, 70.6640625, 86.8359375, 49.833984375, 14.692787170410156 ]
[ 76.2890625, 85.078125, 69.9609375, 85.25390625, 49.306640625, 23.66666603088379 ]
3.033333
91
0
91
0
[ 76.640625, 85.60546875, 70.6640625, 86.8359375, 49.833984375, 13.089937210083008 ]
[ 76.201171875, 85.078125, 69.9609375, 85.25390625, 49.306640625, 21.83333396911621 ]
3.066667
92
0
92
0
[ 76.46484375, 85.60546875, 70.6640625, 86.8359375, 49.833984375, 11.576135635375977 ]
[ 76.201171875, 85.078125, 69.9609375, 85.25390625, 49.306640625, 20 ]
3.1
93
0
93
0
[ 76.376953125, 85.60546875, 70.576171875, 86.8359375, 49.74609375, 10.15138053894043 ]
[ 76.201171875, 85.078125, 69.9609375, 85.25390625, 49.306640625, 18.41666603088379 ]
3.133333
94
0
94
0
[ 76.376953125, 85.60546875, 70.576171875, 86.8359375, 49.74609375, 8.637578010559082 ]
[ 76.201171875, 85.078125, 69.9609375, 85.25390625, 49.306640625, 17.08333396911621 ]
3.166667
95
0
95
0
[ 76.376953125, 85.869140625, 70.576171875, 86.923828125, 49.74609375, 7.212822914123535 ]
[ 76.201171875, 85.078125, 69.9609375, 85.166015625, 49.306640625, 15.666666984558105 ]
3.2
96
0
96
0
[ 76.376953125, 86.220703125, 70.576171875, 86.923828125, 49.74609375, 5.609973430633545 ]
[ 76.201171875, 85.166015625, 69.9609375, 85.166015625, 49.306640625, 14.416666984558105 ]
3.233333
97
0
97
0
[ 76.2890625, 86.484375, 70.576171875, 86.923828125, 49.74609375, 4.185218334197998 ]
[ 76.201171875, 85.166015625, 69.9609375, 85.166015625, 49.306640625, 13.083333015441895 ]
3.266667
98
0
98
0
[ 76.2890625, 86.484375, 70.576171875, 86.923828125, 49.74609375, 3.383793354034424 ]
[ 76.201171875, 85.166015625, 69.9609375, 85.166015625, 49.306640625, 11.75 ]
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": "v2.0",
    "robot_type": "so100",
    "total_episodes": 2,
    "total_frames": 1052,
    "total_tasks": 1,
    "total_videos": 4,
    "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.laptop": {
            "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
            }
        },
        "observation.images.phone": {
            "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": [
                1
            ],
            "names": null
        },
        "index": {
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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