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Datasets:
gxy1111
/
so100_pen2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
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action
sequence
observation.state
sequence
timestamp
float32
0
15.6
frame_index
int64
0
469
episode_index
int64
0
69
index
int64
0
14.1k
task_index
int64
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76
0
[ -4.04296875, 153.28125, 152.40234375, 59.501953125, -49.921875, 0.08888889104127884 ]
[ -4.39453125, 169.27734375, 164.091796875, 62.2265625, -61.34765625, 0.7607192397117615 ]
2.566667
77
0
77
0
[ -3.515625, 148.974609375, 148.7109375, 59.501953125, -45.791015625, 0.08888889104127884 ]
[ -4.39453125, 165.05859375, 160.927734375, 61.259765625, -58.623046875, 0.7607192397117615 ]
2.6
78
0
78
0
[ -2.98828125, 144.66796875, 145.1953125, 59.677734375, -42.1875, 0.08888889104127884 ]
[ -4.482421875, 160.3125, 157.32421875, 60.8203125, -55.458984375, 0.7607192397117615 ]
2.633333
79
0
79
0
[ -2.4609375, 141.064453125, 142.294921875, 59.853515625, -39.111328125, 0.08888889104127884 ]
[ -4.482421875, 156.09375, 153.984375, 60.64453125, -51.943359375, 0.7607192397117615 ]
2.666667
80
0
80
0
[ -2.197265625, 137.98828125, 139.74609375, 59.853515625, -37.177734375, 0.08888889104127884 ]
[ -4.39453125, 151.875, 150.556640625, 60.46875, -48.33984375, 0.7607192397117615 ]
2.7
81
0
81
0
[ -1.845703125, 134.82421875, 137.4609375, 59.853515625, -34.892578125, 0.08888889104127884 ]
[ -4.21875, 147.65625, 147.48046875, 60.556640625, -44.82421875, 0.7607192397117615 ]
2.733333
82
0
82
0
[ -1.494140625, 131.8359375, 135.17578125, 59.853515625, -32.080078125, 0.08888889104127884 ]
[ -3.603515625, 143.701171875, 144.66796875, 60.46875, -41.66015625, 0.7607192397117615 ]
2.766667
83
0
83
0
[ -1.0546875, 128.671875, 132.978515625, 59.94140625, -29.267578125, 0.08888889104127884 ]
[ -2.8125, 139.921875, 142.20703125, 60.46875, -38.935546875, 0.7607192397117615 ]
2.8
84
0
84
0
[ -0.87890625, 125.771484375, 130.693359375, 60.029296875, -26.279296875, 0.08888889104127884 ]
[ -1.93359375, 136.318359375, 139.74609375, 60.46875, -36.298828125, 0.7607192397117615 ]
2.833333
85
0
85
0
[ -0.791015625, 122.958984375, 128.14453125, 60.64453125, -23.02734375, 0.6222221851348877 ]
[ -1.494140625, 133.06640625, 137.373046875, 60.46875, -33.57421875, 0.7607192397117615 ]
2.866667
86
0
86
0
[ -0.791015625, 120.234375, 125.595703125, 61.69921875, -19.86328125, 2.0444445610046387 ]
[ -1.40625, 129.814453125, 135.087890625, 60.46875, -30.76171875, 0.7607192397117615 ]
2.9
87
0
87
0
[ -0.87890625, 117.59765625, 123.134765625, 62.314453125, -17.314453125, 3.0222222805023193 ]
[ -1.40625, 126.650390625, 132.626953125, 60.556640625, -27.861328125, 0.7607192397117615 ]
2.933333
88
0
88
0
[ -0.966796875, 114.873046875, 120.498046875, 63.28125, -15.205078125, 4.088889122009277 ]
[ -1.40625, 123.57421875, 129.90234375, 61.083984375, -24.78515625, 0.9681881666183472 ]
2.966667
89
0
89
0
[ -0.966796875, 112.060546875, 117.7734375, 64.16015625, -13.18359375, 5.333333492279053 ]
[ -1.40625, 120.849609375, 127.44140625, 61.69921875, -21.884765625, 1.6597511768341064 ]
3
90
0
90
0
[ -0.966796875, 109.3359375, 115.400390625, 64.86328125, -11.25, 6.400000095367432 ]
[ -1.40625, 117.94921875, 124.892578125, 62.40234375, -19.248046875, 2.627939224243164 ]
3.033333
91
0
91
0
[ -0.615234375, 107.05078125, 113.291015625, 65.21484375, -9.580078125, 7.111111164093018 ]
[ -1.40625, 115.048828125, 122.16796875, 63.28125, -16.787109375, 3.7344400882720947 ]
3.066667
92
0
92
0
[ -0.263671875, 104.853515625, 111.26953125, 65.654296875, -7.998046875, 8.088889122009277 ]
[ -1.40625, 112.32421875, 119.794921875, 63.80859375, -14.501953125, 4.840940475463867 ]
3.1
93
0
93
0
[ 0.17578125, 102.744140625, 109.3359375, 66.09375, -6.50390625, 9.066666603088379 ]
[ -1.40625, 109.51171875, 117.59765625, 64.51171875, -12.48046875, 5.809128761291504 ]
3.133333
94
0
94
0
[ 0.615234375, 100.810546875, 107.666015625, 66.4453125, -5.537109375, 9.688889503479004 ]
[ -1.40625, 106.875, 115.400390625, 64.951171875, -10.634765625, 6.639004707336426 ]
3.166667
95
0
95
0
[ 0.87890625, 99.140625, 106.171875, 66.533203125, -5.09765625, 9.600000381469727 ]
[ -1.0546875, 104.501953125, 113.466796875, 65.302734375, -8.96484375, 7.814661502838135 ]
3.2
96
0
96
0
[ 1.0546875, 97.646484375, 105.029296875, 66.533203125, -4.5703125, 9.51111125946045 ]
[ -0.52734375, 102.392578125, 111.62109375, 65.830078125, -7.646484375, 8.367911338806152 ]
3.233333
97
0
97
0
[ 1.142578125, 96.328125, 103.974609375, 66.4453125, -4.306640625, 9.51111125946045 ]
[ 0.263671875, 100.283203125, 110.0390625, 66.09375, -6.591796875, 8.852005958557129 ]
3.266667
98
0
98
0
[ 1.142578125, 95.09765625, 103.18359375, 66.26953125, -4.21875, 9.422222137451172 ]
[ 0.703125, 98.525390625, 108.720703125, 66.09375, -5.888671875, 9.05947494506836 ]
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": 70,
    "total_frames": 14105,
    "total_tasks": 1,
    "total_videos": 140,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:70"
    },
    "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.eye": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
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            "info": {
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                "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.wrist": {
            "dtype": "video",
            "shape": [
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                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": [
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            ],
            "names": null
        },
        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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