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pingev
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so100_test_2025-03-15-1

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Robotics
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LeRobot
so100
tutorial
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action
sequence
observation.state
sequence
timestamp
float32
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7.9
frame_index
int64
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237
episode_index
int64
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index
int64
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task_index
int64
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[ -2.98828125, 117.421875, 102.744140625, 93.251953125, 13.447265625, 36.94709396362305 ]
[ -5.712890625, 113.37890625, 102.65625, 93.427734375, 13.359375, 36.2176628112793 ]
2.433333
73
0
73
0
[ -1.7578125, 118.125, 103.095703125, 93.1640625, 13.447265625, 36.94709396362305 ]
[ -5.09765625, 113.642578125, 102.744140625, 93.33984375, 13.271484375, 36.2176628112793 ]
2.466667
74
0
74
0
[ -0.52734375, 118.65234375, 103.18359375, 93.076171875, 13.447265625, 36.94709396362305 ]
[ -4.306640625, 113.818359375, 102.744140625, 93.251953125, 13.271484375, 36.2176628112793 ]
2.5
75
0
75
0
[ 0.17578125, 119.00390625, 103.095703125, 93.1640625, 13.447265625, 36.94709396362305 ]
[ -3.1640625, 114.169921875, 103.095703125, 93.251953125, 13.271484375, 36.2176628112793 ]
2.533333
76
0
76
0
[ 0.615234375, 119.1796875, 102.919921875, 93.427734375, 13.447265625, 36.94709396362305 ]
[ -2.197265625, 114.521484375, 103.447265625, 93.251953125, 13.271484375, 36.2176628112793 ]
2.566667
77
0
77
0
[ 1.0546875, 119.35546875, 102.919921875, 93.515625, 13.359375, 36.94709396362305 ]
[ -1.494140625, 114.9609375, 103.53515625, 93.251953125, 13.271484375, 36.2176628112793 ]
2.6
78
0
78
0
[ 1.40625, 119.35546875, 103.0078125, 93.515625, 13.359375, 36.94709396362305 ]
[ -0.87890625, 115.3125, 103.53515625, 93.251953125, 13.271484375, 36.2176628112793 ]
2.633333
79
0
79
0
[ 1.845703125, 119.35546875, 103.18359375, 93.515625, 13.447265625, 36.94709396362305 ]
[ -0.3515625, 115.6640625, 103.53515625, 93.251953125, 13.271484375, 36.2176628112793 ]
2.666667
80
0
80
0
[ 2.109375, 119.35546875, 103.18359375, 93.69140625, 13.447265625, 36.94709396362305 ]
[ 0, 115.83984375, 103.623046875, 93.251953125, 13.271484375, 36.2176628112793 ]
2.7
81
0
81
0
[ 2.28515625, 119.619140625, 103.18359375, 93.779296875, 13.447265625, 36.94709396362305 ]
[ 0.263671875, 115.927734375, 103.7109375, 93.251953125, 13.271484375, 36.2176628112793 ]
2.733333
82
0
82
0
[ 2.28515625, 119.8828125, 103.095703125, 93.779296875, 13.447265625, 36.94709396362305 ]
[ 0.791015625, 115.927734375, 103.7109375, 93.251953125, 13.271484375, 36.2176628112793 ]
2.766667
83
0
83
0
[ 2.28515625, 119.970703125, 103.095703125, 93.779296875, 13.447265625, 36.94709396362305 ]
[ 1.0546875, 115.927734375, 103.7109375, 93.251953125, 13.271484375, 36.2176628112793 ]
2.8
84
0
84
0
[ 2.28515625, 119.970703125, 103.271484375, 93.8671875, 13.53515625, 36.94709396362305 ]
[ 1.318359375, 115.927734375, 103.7109375, 93.251953125, 13.271484375, 36.2176628112793 ]
2.833333
85
0
85
0
[ 2.28515625, 119.70703125, 103.271484375, 93.8671875, 13.53515625, 36.94709396362305 ]
[ 1.494140625, 115.927734375, 103.7109375, 93.251953125, 13.271484375, 36.2176628112793 ]
2.866667
86
0
86
0
[ 2.109375, 119.53125, 103.271484375, 93.8671875, 13.53515625, 36.94709396362305 ]
[ 1.494140625, 115.927734375, 103.7109375, 93.251953125, 13.271484375, 36.2176628112793 ]
2.9
87
0
87
0
[ 1.93359375, 119.443359375, 103.359375, 93.8671875, 13.53515625, 36.94709396362305 ]
[ 1.494140625, 115.927734375, 103.7109375, 93.251953125, 13.271484375, 36.2176628112793 ]
2.933333
88
0
88
0
[ 1.845703125, 119.267578125, 103.447265625, 93.8671875, 13.53515625, 36.94709396362305 ]
[ 1.494140625, 115.927734375, 103.7109375, 93.251953125, 13.271484375, 36.2176628112793 ]
2.966667
89
0
89
0
[ 1.58203125, 119.267578125, 103.623046875, 93.779296875, 13.53515625, 36.94709396362305 ]
[ 1.494140625, 115.927734375, 103.7109375, 93.251953125, 13.271484375, 36.2176628112793 ]
3
90
0
90
0
[ 1.23046875, 119.1796875, 103.623046875, 93.69140625, 13.53515625, 36.94709396362305 ]
[ 1.494140625, 115.927734375, 103.7109375, 93.251953125, 13.271484375, 36.2176628112793 ]
3.033333
91
0
91
0
[ 0.87890625, 119.1796875, 103.7109375, 93.603515625, 13.53515625, 36.94709396362305 ]
[ 1.494140625, 115.927734375, 103.7109375, 93.251953125, 13.271484375, 36.2176628112793 ]
3.066667
92
0
92
0
[ 0.52734375, 119.1796875, 103.798828125, 93.603515625, 13.53515625, 36.94709396362305 ]
[ 1.494140625, 115.927734375, 103.7109375, 93.251953125, 13.271484375, 36.2176628112793 ]
3.1
93
0
93
0
[ 0.439453125, 119.1796875, 103.88671875, 93.603515625, 13.623046875, 36.94709396362305 ]
[ 1.40625, 115.927734375, 103.7109375, 93.251953125, 13.271484375, 36.2176628112793 ]
3.133333
94
0
94
0
[ 0.17578125, 119.267578125, 103.974609375, 93.603515625, 13.7109375, 36.94709396362305 ]
[ 1.0546875, 115.927734375, 103.7109375, 93.251953125, 13.271484375, 36.2176628112793 ]
3.166667
95
0
95
0
[ -0.263671875, 119.1796875, 104.0625, 93.603515625, 13.7109375, 36.8603630065918 ]
[ 0.791015625, 115.927734375, 103.7109375, 93.251953125, 13.271484375, 36.2176628112793 ]
3.2
96
0
96
0
[ -0.52734375, 119.091796875, 104.150390625, 93.603515625, 13.7109375, 36.60017395019531 ]
[ 0.615234375, 115.927734375, 103.7109375, 93.251953125, 13.271484375, 36.2176628112793 ]
3.233333
97
0
97
0
[ -0.703125, 119.091796875, 104.23828125, 93.603515625, 13.798828125, 36.42671203613281 ]
[ 0.52734375, 115.927734375, 103.974609375, 93.251953125, 13.271484375, 36.2176628112793 ]
3.266667
98
0
98
0
[ -0.87890625, 119.091796875, 104.326171875, 93.603515625, 13.974609375, 34.778839111328125 ]
[ 0.439453125, 115.927734375, 104.4140625, 93.251953125, 13.271484375, 36.2176628112793 ]
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": 3,
    "total_frames": 714,
    "total_tasks": 1,
    "total_videos": 6,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:3"
    },
    "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": [
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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.laptop": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "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": "h264",
                "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": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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