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Datasets:
gxy1111
/
so100_tape2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
1
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action
sequence
observation.state
sequence
timestamp
float32
0
10.2
frame_index
int64
0
307
episode_index
int64
0
29
index
int64
0
8.09k
task_index
int64
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[ -5.009765625, 192.216796875, 177.890625, 72.685546875, -77.255859375, 0.7607192397117615 ]
2.4
72
0
72
0
[ -5.009765625, 191.162109375, 178.857421875, 70.927734375, -75.322265625, 0 ]
[ -5.009765625, 192.216796875, 177.890625, 72.685546875, -77.16796875, 0.7607192397117615 ]
2.433333
73
0
73
0
[ -5.2734375, 190.283203125, 177.978515625, 70.6640625, -74.091796875, 0 ]
[ -5.009765625, 192.216796875, 177.890625, 72.685546875, -76.81640625, 0.7607192397117615 ]
2.466667
74
0
74
0
[ -5.80078125, 189.31640625, 177.01171875, 70.576171875, -72.861328125, 0 ]
[ -5.009765625, 192.216796875, 177.890625, 72.685546875, -76.46484375, 0.7607192397117615 ]
2.5
75
0
75
0
[ -6.591796875, 188.26171875, 176.044921875, 70.3125, -71.71875, 0 ]
[ -5.09765625, 191.953125, 177.71484375, 72.685546875, -75.76171875, 0.7607192397117615 ]
2.533333
76
0
76
0
[ -7.3828125, 187.294921875, 174.990234375, 70.13671875, -70.576171875, 0 ]
[ -5.2734375, 190.8984375, 177.36328125, 72.685546875, -74.619140625, 0.7607192397117615 ]
2.566667
77
0
77
0
[ -8.26171875, 186.50390625, 174.0234375, 70.048828125, -69.521484375, 0 ]
[ -5.44921875, 189.31640625, 177.275390625, 72.333984375, -73.4765625, 0.7607192397117615 ]
2.6
78
0
78
0
[ -8.7890625, 186.15234375, 173.49609375, 69.9609375, -68.73046875, 0 ]
[ -5.9765625, 188.4375, 176.30859375, 71.982421875, -71.982421875, 0.7607192397117615 ]
2.633333
79
0
79
0
[ -8.96484375, 185.9765625, 173.14453125, 69.873046875, -68.466796875, 0 ]
[ -6.943359375, 187.998046875, 175.4296875, 71.71875, -71.015625, 0.7607192397117615 ]
2.666667
80
0
80
0
[ -8.876953125, 185.625, 172.79296875, 69.873046875, -68.37890625, 0 ]
[ -7.822265625, 187.3828125, 174.638671875, 71.455078125, -70.224609375, 0.7607192397117615 ]
2.7
81
0
81
0
[ -8.525390625, 185.009765625, 172.353515625, 69.873046875, -69.08203125, 0 ]
[ -8.525390625, 186.591796875, 174.111328125, 71.3671875, -69.697265625, 0.7607192397117615 ]
2.733333
82
0
82
0
[ -8.349609375, 183.69140625, 171.474609375, 69.78515625, -69.43359375, 0 ]
[ -8.525390625, 186.15234375, 173.671875, 71.279296875, -69.78515625, 0.7607192397117615 ]
2.766667
83
0
83
0
[ -8.349609375, 182.021484375, 170.068359375, 69.609375, -69.43359375, 0 ]
[ -8.349609375, 185.888671875, 173.3203125, 71.103515625, -69.43359375, 0.7607192397117615 ]
2.8
84
0
84
0
[ -8.4375, 180.263671875, 168.486328125, 69.08203125, -68.818359375, 0 ]
[ -8.349609375, 184.921875, 172.705078125, 71.103515625, -69.78515625, 0.7607192397117615 ]
2.833333
85
0
85
0
[ -8.701171875, 178.154296875, 166.46484375, 68.37890625, -68.02734375, 0 ]
[ -8.525390625, 183.69140625, 172.001953125, 71.015625, -69.78515625, 0.7607192397117615 ]
2.866667
86
0
86
0
[ -9.140625, 175.60546875, 163.916015625, 67.587890625, -66.796875, 0 ]
[ -8.525390625, 182.109375, 171.2109375, 70.751953125, -69.43359375, 0.7607192397117615 ]
2.9
87
0
87
0
[ -9.755859375, 172.880859375, 161.279296875, 66.62109375, -65.0390625, 0.08888889104127884 ]
[ -8.349609375, 180.3515625, 170.15625, 70.13671875, -68.90625, 0.7607192397117615 ]
2.933333
88
0
88
0
[ -10.546875, 169.716796875, 158.642578125, 65.91796875, -63.017578125, 0.4444444477558136 ]
[ -8.26171875, 177.890625, 168.662109375, 69.43359375, -67.587890625, 0.7607192397117615 ]
2.966667
89
0
89
0
[ -11.6015625, 166.201171875, 155.478515625, 65.654296875, -60.64453125, 0.9777777791023254 ]
[ -8.61328125, 175.4296875, 166.728515625, 68.642578125, -66.62109375, 0.7607192397117615 ]
3
90
0
90
0
[ -12.48046875, 162.24609375, 151.962890625, 65.56640625, -57.568359375, 1.5111111402511597 ]
[ -9.4921875, 173.14453125, 164.53125, 68.02734375, -65.126953125, 0.7607192397117615 ]
3.033333
91
0
91
0
[ -13.271484375, 158.291015625, 148.447265625, 65.56640625, -53.96484375, 2.4000000953674316 ]
[ -10.283203125, 170.5078125, 161.89453125, 67.5, -63.369140625, 0.7607192397117615 ]
3.066667
92
0
92
0
[ -13.88671875, 154.599609375, 144.931640625, 65.654296875, -50.09765625, 3.8222222328186035 ]
[ -11.07421875, 167.080078125, 158.90625, 67.236328125, -61.171875, 0.8990318775177002 ]
3.1
93
0
93
0
[ -14.4140625, 150.908203125, 141.416015625, 66.005859375, -46.40625, 4.977777481079102 ]
[ -11.865234375, 163.65234375, 155.91796875, 67.1484375, -58.53515625, 1.175657033920288 ]
3.133333
94
0
94
0
[ -14.94140625, 147.3046875, 138.076171875, 66.4453125, -43.41796875, 5.422222137451172 ]
[ -12.568359375, 160.048828125, 152.666015625, 66.97265625, -55.546875, 2.1438450813293457 ]
3.166667
95
0
95
0
[ -15.380859375, 143.96484375, 135.17578125, 66.796875, -40.60546875, 4.800000190734863 ]
[ -13.271484375, 156.357421875, 149.326171875, 66.97265625, -52.20703125, 3.2503459453582764 ]
3.2
96
0
96
0
[ -15.99609375, 140.712890625, 132.451171875, 67.1484375, -38.232421875, 4.711111068725586 ]
[ -13.798828125, 152.75390625, 145.8984375, 66.97265625, -48.955078125, 4.080221652984619 ]
3.233333
97
0
97
0
[ -16.435546875, 137.373046875, 129.990234375, 67.32421875, -36.38671875, 4.711111068725586 ]
[ -14.326171875, 149.23828125, 142.734375, 66.97265625, -45.703125, 4.149377822875977 ]
3.266667
98
0
98
0
[ -16.875, 134.208984375, 127.529296875, 67.587890625, -34.62890625, 5.688889026641846 ]
[ -14.853515625, 145.634765625, 139.5703125, 66.97265625, -42.71484375, 4.149377822875977 ]
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": 30,
    "total_frames": 8088,
    "total_tasks": 1,
    "total_videos": 60,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:30"
    },
    "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",
                "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.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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                1
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            "names": null
        },
        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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