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Datasets:
pranavsaroha
/
so100_legos

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
Libraries:
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Dask
License:
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xet
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action
sequence
observation.state
sequence
timestamp
float32
0
27.3
frame_index
int64
0
819
episode_index
int64
0
4
index
int64
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3.58k
task_index
int64
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[ -0.263671875, 105.908203125, 74.00390625, 103.7109375, -2.4609375, 0 ]
[ -2.373046875, 105.1171875, 71.806640625, 103.359375, -2.021484375, 0.5602241158485413 ]
2.366667
71
0
71
0
[ 1.669921875, 105.029296875, 75.41015625, 103.7109375, -2.021484375, 0 ]
[ -1.494140625, 104.94140625, 73.037109375, 103.359375, -2.021484375, 0.5602241158485413 ]
2.4
72
0
72
0
[ 3.33984375, 103.623046875, 76.201171875, 103.359375, -2.4609375, 0 ]
[ -0.3515625, 104.501953125, 74.794921875, 103.359375, -2.021484375, 0.5602241158485413 ]
2.433333
73
0
73
0
[ 4.74609375, 102.041015625, 76.904296875, 103.18359375, -2.4609375, 0 ]
[ 1.0546875, 103.7109375, 75.9375, 103.359375, -2.021484375, 0.5602241158485413 ]
2.466667
74
0
74
0
[ 5.9765625, 100.1953125, 77.431640625, 103.095703125, -2.109375, 0 ]
[ 2.373046875, 102.216796875, 76.2890625, 103.359375, -2.021484375, 0.5602241158485413 ]
2.5
75
0
75
0
[ 6.6796875, 97.3828125, 77.958984375, 103.095703125, -2.28515625, 0 ]
[ 3.603515625, 100.810546875, 76.9921875, 102.65625, -2.021484375, 0.5602241158485413 ]
2.533333
76
0
76
0
[ 7.294921875, 94.130859375, 78.486328125, 103.095703125, -1.7578125, 0 ]
[ 4.658203125, 98.876953125, 77.51953125, 103.271484375, -2.021484375, 0.5602241158485413 ]
2.566667
77
0
77
0
[ 7.646484375, 91.142578125, 78.310546875, 103.095703125, -1.494140625, 0 ]
[ 5.712890625, 96.328125, 77.87109375, 102.568359375, -1.494140625, 0.5602241158485413 ]
2.6
78
0
78
0
[ 7.998046875, 88.59375, 77.783203125, 103.095703125, -1.23046875, 0 ]
[ 6.591796875, 92.98828125, 78.486328125, 102.65625, -1.0546875, 0.5602241158485413 ]
2.633333
79
0
79
0
[ 8.876953125, 87.626953125, 77.255859375, 103.0078125, -0.263671875, -0.07451564818620682 ]
[ 7.03125, 90.087890625, 78.57421875, 102.65625, -0.87890625, 0.5602241158485413 ]
2.666667
80
0
80
0
[ 9.580078125, 87.5390625, 76.376953125, 102.65625, 0.263671875, -0.07451564818620682 ]
[ 7.20703125, 87.36328125, 78.57421875, 102.65625, -0.52734375, 0.5602241158485413 ]
2.7
81
0
81
0
[ 10.546875, 88.76953125, 75.9375, 101.953125, -0.703125, 4.247392177581787 ]
[ 7.646484375, 86.1328125, 78.57421875, 102.12890625, -0.263671875, 0.5602241158485413 ]
2.733333
82
0
82
0
[ 11.77734375, 91.142578125, 76.201171875, 102.216796875, -2.373046875, 11.549925804138184 ]
[ 8.61328125, 86.044921875, 78.310546875, 101.513671875, -0.3515625, 2.1008403301239014 ]
2.766667
83
0
83
0
[ 12.568359375, 93.427734375, 76.640625, 101.865234375, -6.240234375, 18.032787322998047 ]
[ 9.66796875, 86.044921875, 78.22265625, 101.689453125, -1.23046875, 6.442576885223389 ]
2.8
84
0
84
0
[ 12.83203125, 95.44921875, 77.16796875, 101.953125, -8.61328125, 23.02533531188965 ]
[ 10.72265625, 87.1875, 78.22265625, 101.42578125, -3.33984375, 11.904762268066406 ]
2.833333
85
0
85
0
[ 13.095703125, 96.416015625, 77.255859375, 101.953125, -9.140625, 25.03725814819336 ]
[ 11.6015625, 88.9453125, 78.22265625, 101.25, -5.888671875, 17.366947174072266 ]
2.866667
86
0
86
0
[ 13.18359375, 96.591796875, 77.51953125, 102.216796875, -8.349609375, 26.3785400390625 ]
[ 12.216796875, 90.791015625, 78.22265625, 101.25, -7.55859375, 21.708683013916016 ]
2.9
87
0
87
0
[ 14.326171875, 96.50390625, 78.57421875, 102.83203125, -5.9765625, 26.3785400390625 ]
[ 12.568359375, 91.93359375, 78.22265625, 101.6015625, -7.734375, 23.9495792388916 ]
2.933333
88
0
88
0
[ 15.556640625, 95.09765625, 79.1015625, 103.359375, -2.4609375, 26.080476760864258 ]
[ 12.65625, 92.373046875, 78.486328125, 101.77734375, -6.416015625, 24.92997169494629 ]
2.966667
89
0
89
0
[ 15.908203125, 92.98828125, 78.837890625, 103.359375, -0.52734375, 26.3785400390625 ]
[ 13.623046875, 92.373046875, 79.189453125, 102.216796875, -4.39453125, 25.490196228027344 ]
3
90
0
90
0
[ 16.34765625, 90.791015625, 78.57421875, 104.0625, 6.416015625, 26.602087020874023 ]
[ 14.765625, 91.93359375, 79.365234375, 102.568359375, -1.40625, 25.630252838134766 ]
3.033333
91
0
91
0
[ 17.9296875, 89.384765625, 81.2109375, 104.150390625, 16.083984375, 26.229507446289062 ]
[ 15.556640625, 90.52734375, 79.365234375, 103.359375, 1.669921875, 25.630252838134766 ]
3.066667
92
0
92
0
[ 19.423828125, 87.890625, 83.583984375, 104.23828125, 23.466796875, 25.33531951904297 ]
[ 15.908203125, 88.857421875, 79.8046875, 103.53515625, 7.822265625, 25.630252838134766 ]
3.1
93
0
93
0
[ 20.390625, 86.8359375, 83.935546875, 104.23828125, 26.89453125, 24.888227462768555 ]
[ 16.435546875, 87.802734375, 81.650390625, 103.623046875, 15.029296875, 25.910364151000977 ]
3.133333
94
0
94
0
[ 20.654296875, 86.748046875, 82.6171875, 104.23828125, 28.564453125, 24.888227462768555 ]
[ 17.9296875, 85.78125, 83.14453125, 103.623046875, 21.005859375, 24.789915084838867 ]
3.166667
95
0
95
0
[ 20.56640625, 87.802734375, 81.38671875, 104.23828125, 29.970703125, 25.111772537231445 ]
[ 19.86328125, 85.078125, 83.232421875, 103.623046875, 24.9609375, 24.369747161865234 ]
3.2
96
0
96
0
[ 20.21484375, 88.59375, 80.771484375, 104.326171875, 30.498046875, 25.186288833618164 ]
[ 20.0390625, 85.078125, 83.232421875, 103.623046875, 27.24609375, 24.649860382080078 ]
3.233333
97
0
97
0
[ 19.51171875, 89.12109375, 81.123046875, 104.326171875, 31.201171875, 25.03725814819336 ]
[ 19.072265625, 85.078125, 83.232421875, 103.623046875, 28.564453125, 24.649860382080078 ]
3.266667
98
0
98
0
[ 18.28125, 90, 81.73828125, 104.326171875, 30.9375, 24.888227462768555 ]
[ 18.80859375, 85.25390625, 83.14453125, 103.623046875, 29.8828125, 24.649860382080078 ]
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": 5,
    "total_frames": 3584,
    "total_tasks": 1,
    "total_videos": 10,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:5"
    },
    "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": {
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            "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
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.laptop": {
            "dtype": "video",
            "shape": [
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                1920,
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            "names": [
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        "observation.images.phone": {
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            "names": [
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            "info": {
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                "video.codec": "av1",
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        },
        "timestamp": {
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            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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        "index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Size of downloaded dataset files:
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Number of rows:
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