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Datasets:
goffiojc
/
so100_isa

Tasks:
Robotics
Modalities:
Tabular
Time-series
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
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pandas
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action
sequence
observation.state
sequence
timestamp
float32
0
58.8
frame_index
int64
0
1.76k
episode_index
int64
0
0
index
int64
0
1.76k
task_index
int64
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[ 11.337890625, 45.52734375, 21.533203125, 83.3203125, -13.359375, 0.5677785873413086 ]
2.366667
71
0
71
0
[ 9.4921875, 47.4609375, 22.412109375, 83.671875, -14.23828125, -0.260869562625885 ]
[ 10.72265625, 45.52734375, 21.97265625, 83.3203125, -13.53515625, 0.5677785873413086 ]
2.4
72
0
72
0
[ 9.31640625, 47.373046875, 22.763671875, 83.583984375, -14.23828125, -0.260869562625885 ]
[ 10.107421875, 45.52734375, 22.412109375, 83.3203125, -13.623046875, 0.5677785873413086 ]
2.433333
73
0
73
0
[ 9.228515625, 47.373046875, 23.115234375, 83.49609375, -14.23828125, -0.260869562625885 ]
[ 9.580078125, 45.52734375, 22.8515625, 83.3203125, -13.7109375, 0.5677785873413086 ]
2.466667
74
0
74
0
[ 9.140625, 47.28515625, 23.466796875, 83.408203125, -14.23828125, -0.260869562625885 ]
[ 9.404296875, 45.52734375, 23.203125, 83.3203125, -13.798828125, 0.5677785873413086 ]
2.5
75
0
75
0
[ 9.140625, 47.109375, 23.818359375, 83.3203125, -14.326171875, -0.260869562625885 ]
[ 9.31640625, 45.52734375, 23.642578125, 83.3203125, -13.88671875, 0.5677785873413086 ]
2.533333
76
0
76
0
[ 9.140625, 46.669921875, 23.994140625, 83.232421875, -14.326171875, -0.260869562625885 ]
[ 9.404296875, 45.52734375, 23.90625, 83.3203125, -13.798828125, 0.5677785873413086 ]
2.566667
77
0
77
0
[ 9.140625, 46.0546875, 23.90625, 83.232421875, -14.326171875, -0.260869562625885 ]
[ 9.580078125, 45.52734375, 24.2578125, 83.3203125, -13.798828125, 0.5677785873413086 ]
2.6
78
0
78
0
[ 9.228515625, 45.52734375, 23.90625, 83.232421875, -14.326171875, -0.260869562625885 ]
[ 9.66796875, 45.3515625, 24.43359375, 83.3203125, -13.798828125, 0.5677785873413086 ]
2.633333
79
0
79
0
[ 9.404296875, 44.82421875, 23.642578125, 83.056640625, -14.4140625, -0.260869562625885 ]
[ 9.66796875, 44.82421875, 24.521484375, 83.3203125, -13.798828125, 0.5677785873413086 ]
2.666667
80
0
80
0
[ 9.580078125, 44.12109375, 23.466796875, 82.79296875, -14.4140625, -0.260869562625885 ]
[ 9.66796875, 44.208984375, 24.521484375, 83.3203125, -13.798828125, 0.5677785873413086 ]
2.7
81
0
81
0
[ 9.66796875, 43.330078125, 23.37890625, 82.79296875, -14.4140625, -0.260869562625885 ]
[ 9.4921875, 43.505859375, 24.521484375, 83.3203125, -13.798828125, 0.5677785873413086 ]
2.733333
82
0
82
0
[ 9.66796875, 42.71484375, 23.37890625, 82.705078125, -14.4140625, -0.260869562625885 ]
[ 9.404296875, 42.71484375, 24.521484375, 83.3203125, -13.798828125, 0.5677785873413086 ]
2.766667
83
0
83
0
[ 9.66796875, 42.1875, 23.37890625, 82.705078125, -14.4140625, -0.260869562625885 ]
[ 9.404296875, 42.01171875, 24.521484375, 83.3203125, -13.798828125, 0.5677785873413086 ]
2.8
84
0
84
0
[ 9.66796875, 41.8359375, 23.37890625, 82.705078125, -14.4140625, -0.260869562625885 ]
[ 9.31640625, 41.220703125, 24.521484375, 83.3203125, -13.798828125, 0.5677785873413086 ]
2.833333
85
0
85
0
[ 9.580078125, 41.572265625, 23.291015625, 82.6171875, -14.4140625, -0.260869562625885 ]
[ 9.31640625, 40.517578125, 24.521484375, 83.3203125, -13.798828125, 0.5677785873413086 ]
2.866667
86
0
86
0
[ 9.404296875, 41.396484375, 23.291015625, 82.177734375, -14.4140625, -0.260869562625885 ]
[ 9.31640625, 39.990234375, 24.521484375, 83.3203125, -13.798828125, 0.5677785873413086 ]
2.9
87
0
87
0
[ 9.404296875, 41.396484375, 23.291015625, 81.38671875, -14.4140625, -0.260869562625885 ]
[ 9.404296875, 39.55078125, 24.521484375, 83.3203125, -13.798828125, 0.5677785873413086 ]
2.933333
88
0
88
0
[ 9.4921875, 41.396484375, 23.291015625, 80.5078125, -14.4140625, -0.260869562625885 ]
[ 9.404296875, 39.19921875, 24.521484375, 83.056640625, -13.798828125, 0.5677785873413086 ]
2.966667
89
0
89
0
[ 9.580078125, 41.396484375, 23.291015625, 79.453125, -14.4140625, -0.260869562625885 ]
[ 9.4921875, 39.0234375, 24.521484375, 82.44140625, -13.798828125, 0.5677785873413086 ]
3
90
0
90
0
[ 9.66796875, 41.396484375, 23.291015625, 78.486328125, -14.4140625, -0.260869562625885 ]
[ 9.4921875, 39.0234375, 24.521484375, 81.650390625, -13.798828125, 0.5677785873413086 ]
3.033333
91
0
91
0
[ 9.66796875, 41.396484375, 23.291015625, 77.6953125, -14.4140625, -0.17391304671764374 ]
[ 9.4921875, 39.0234375, 24.521484375, 80.859375, -13.798828125, 0.5677785873413086 ]
3.066667
92
0
92
0
[ 9.66796875, 41.396484375, 23.291015625, 76.9921875, -14.4140625, -0.17391304671764374 ]
[ 9.580078125, 39.0234375, 24.521484375, 79.98046875, -13.798828125, 0.5677785873413086 ]
3.1
93
0
93
0
[ 9.66796875, 41.30859375, 23.291015625, 76.376953125, -14.501953125, -0.08695652335882187 ]
[ 9.580078125, 39.0234375, 24.521484375, 79.189453125, -13.798828125, 0.5677785873413086 ]
3.133333
94
0
94
0
[ 9.66796875, 41.30859375, 23.291015625, 75.849609375, -14.501953125, -0.08695652335882187 ]
[ 9.580078125, 39.0234375, 24.521484375, 78.486328125, -13.798828125, 0.5677785873413086 ]
3.166667
95
0
95
0
[ 9.66796875, 41.30859375, 23.291015625, 75.41015625, -14.501953125, -0.08695652335882187 ]
[ 9.580078125, 39.0234375, 24.521484375, 77.783203125, -13.798828125, 0.5677785873413086 ]
3.2
96
0
96
0
[ 9.580078125, 41.30859375, 23.291015625, 74.970703125, -14.501953125, -0.17391304671764374 ]
[ 9.580078125, 39.0234375, 24.521484375, 77.16796875, -13.798828125, 0.5677785873413086 ]
3.233333
97
0
97
0
[ 9.580078125, 41.220703125, 23.37890625, 74.53125, -14.501953125, -0.260869562625885 ]
[ 9.580078125, 39.0234375, 24.521484375, 76.640625, -13.798828125, 0.5677785873413086 ]
3.266667
98
0
98
0
[ 9.4921875, 41.220703125, 23.37890625, 74.00390625, -14.501953125, -0.260869562625885 ]
[ 9.580078125, 39.0234375, 24.521484375, 76.201171875, -13.798828125, 0.5677785873413086 ]
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": 1,
    "total_frames": 1765,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "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"
            ]
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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