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Datasets:
pranavsaroha
/
so100_onelego2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
Libraries:
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Dask
License:
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xet
Community
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action
sequence
observation.state
sequence
timestamp
float32
0
14.1
frame_index
int64
0
422
episode_index
int64
0
29
index
int64
0
10.1k
task_index
int64
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70
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[ 0.703125, 188.4375, -191.953125, 77.607421875, -3.251953125, -0.06644517928361893 ]
[ 0.3515625, 188.7890625, -19.072265625, 76.201171875, -3.076171875, 1.7434619665145874 ]
2.366667
71
0
71
0
[ 0.52734375, 188.4375, -191.953125, 77.431640625, -2.548828125, -0.06644517928361893 ]
[ 0.3515625, 188.7890625, -19.072265625, 76.201171875, -3.076171875, 1.7434619665145874 ]
2.4
72
0
72
0
[ 0.263671875, 188.4375, -191.865234375, 76.552734375, -2.373046875, -0.06644517928361893 ]
[ 0.3515625, 188.7890625, -19.072265625, 76.201171875, -2.900390625, 1.7434619665145874 ]
2.433333
73
0
73
0
[ 0.263671875, 188.4375, -191.689453125, 75.5859375, -2.373046875, -0.06644517928361893 ]
[ 0.3515625, 188.7890625, -19.072265625, 76.11328125, -2.548828125, 1.7434619665145874 ]
2.466667
74
0
74
0
[ 0.263671875, 188.4375, -191.513671875, 74.53125, -2.373046875, -0.06644517928361893 ]
[ 0.3515625, 188.7890625, -19.072265625, 75.673828125, -2.373046875, 1.7434619665145874 ]
2.5
75
0
75
0
[ 0.3515625, 188.4375, -191.42578125, 73.65234375, -2.4609375, -0.06644517928361893 ]
[ 0.3515625, 188.7890625, -19.072265625, 75.05859375, -2.197265625, 1.7434619665145874 ]
2.533333
76
0
76
0
[ 0.52734375, 188.4375, -191.953125, 73.388671875, -2.4609375, -0.06644517928361893 ]
[ 0.3515625, 188.7890625, -19.072265625, 74.267578125, -2.197265625, 1.7434619665145874 ]
2.566667
77
0
77
0
[ 0.615234375, 188.4375, -193.095703125, 73.30078125, -2.28515625, -0.13289035856723785 ]
[ 0.3515625, 188.7890625, -19.072265625, 73.564453125, -2.197265625, 1.7434619665145874 ]
2.6
78
0
78
0
[ 0.615234375, 188.4375, -194.326171875, 73.388671875, -2.197265625, -0.13289035856723785 ]
[ 0.3515625, 188.7890625, -19.072265625, 73.212890625, -2.197265625, 1.7434619665145874 ]
2.633333
79
0
79
0
[ 0.703125, 188.349609375, -195.908203125, 73.740234375, -2.197265625, -0.13289035856723785 ]
[ 0.3515625, 188.7890625, -19.072265625, 73.125, -2.197265625, 1.7434619665145874 ]
2.666667
80
0
80
0
[ 0.703125, 187.470703125, -198.017578125, 73.916015625, -2.28515625, -0.13289035856723785 ]
[ 0.3515625, 188.7890625, -19.072265625, 73.037109375, -2.197265625, 1.7434619665145874 ]
2.7
81
0
81
0
[ 0.703125, 185.361328125, -200.91796875, 73.916015625, -2.021484375, -0.13289035856723785 ]
[ 0.3515625, 188.7890625, -19.072265625, 73.037109375, -2.197265625, 1.7434619665145874 ]
2.733333
82
0
82
0
[ 0.17578125, 181.58203125, -205.048828125, 73.916015625, -1.494140625, -0.13289035856723785 ]
[ 0.3515625, 188.7890625, -19.072265625, 73.037109375, -2.197265625, 1.7434619665145874 ]
2.766667
83
0
83
0
[ -0.3515625, 175.78125, -210.41015625, 74.53125, -1.142578125, -0.13289035856723785 ]
[ 0.3515625, 188.349609375, -19.072265625, 73.037109375, -2.109375, 1.7434619665145874 ]
2.8
84
0
84
0
[ -1.142578125, 168.486328125, -217.529296875, 76.2890625, -0.87890625, -0.13289035856723785 ]
[ 0.3515625, 187.55859375, -19.072265625, 73.037109375, -1.58203125, 1.7434619665145874 ]
2.833333
85
0
85
0
[ -1.93359375, 160.83984375, -225.791015625, 79.453125, -0.87890625, -0.13289035856723785 ]
[ 0.263671875, 185.888671875, -19.072265625, 73.125, -1.23046875, 1.7434619665145874 ]
2.866667
86
0
86
0
[ -2.548828125, 154.248046875, -234.31640625, 83.49609375, -1.142578125, -0.13289035856723785 ]
[ 0, 183.33984375, -19.072265625, 74.1796875, -0.87890625, 1.7434619665145874 ]
2.9
87
0
87
0
[ -2.8125, 149.58984375, -242.2265625, 87.890625, -1.40625, -0.06644517928361893 ]
[ -0.3515625, 180.087890625, -19.072265625, 76.025390625, -0.703125, 1.7434619665145874 ]
2.933333
88
0
88
0
[ -2.8125, 147.568359375, -248.90625, 91.318359375, -1.7578125, -0.06644517928361893 ]
[ -0.791015625, 176.220703125, -19.072265625, 78.57421875, -0.791015625, 1.7434619665145874 ]
2.966667
89
0
89
0
[ -2.724609375, 147.041015625, -254.443359375, 93.515625, -2.109375, -0.06644517928361893 ]
[ -1.142578125, 172.177734375, -19.072265625, 81.650390625, -0.791015625, 1.7434619665145874 ]
3
90
0
90
0
[ -2.4609375, 147.12890625, -259.8046875, 95.537109375, -2.4609375, -0.06644517928361893 ]
[ -1.58203125, 167.783203125, -19.072265625, 85.078125, -0.966796875, 1.7434619665145874 ]
3.033333
91
0
91
0
[ -2.28515625, 146.689453125, -265.78125, 98.173828125, -2.8125, -0.06644517928361893 ]
[ -1.845703125, 163.740234375, -19.072265625, 88.06640625, -1.318359375, 1.7434619665145874 ]
3.066667
92
0
92
0
[ -2.197265625, 144.84375, 86.8359375, 101.689453125, -2.8125, -0.06644517928361893 ]
[ -2.109375, 160.224609375, -19.072265625, 91.142578125, -1.494140625, 1.7434619665145874 ]
3.1
93
0
93
0
[ -2.021484375, 141.767578125, 78.22265625, 105.8203125, -2.63671875, -0.06644517928361893 ]
[ -2.197265625, 157.1484375, -19.072265625, 94.74609375, -1.669921875, 1.7434619665145874 ]
3.133333
94
0
94
0
[ -1.58203125, 138.076171875, 69.521484375, 109.599609375, -2.197265625, -0.06644517928361893 ]
[ -2.28515625, 154.423828125, -19.072265625, 97.470703125, -2.021484375, 1.7434619665145874 ]
3.166667
95
0
95
0
[ -0.791015625, 137.724609375, 65.126953125, 109.6875, -2.900390625, -0.13289035856723785 ]
[ -2.197265625, 151.5234375, -19.072265625, 99.31640625, -2.021484375, 1.7434619665145874 ]
3.2
96
0
96
0
[ -0.52734375, 137.63671875, 61.171875, 109.599609375, -3.33984375, -0.13289035856723785 ]
[ -1.669921875, 148.974609375, -19.072265625, 100.1953125, -2.021484375, 1.7434619665145874 ]
3.233333
97
0
97
0
[ 0.087890625, 137.197265625, 57.48046875, 109.599609375, -3.8671875, -0.13289035856723785 ]
[ -1.142578125, 146.689453125, -19.072265625, 100.1953125, -2.197265625, 1.7434619665145874 ]
3.266667
98
0
98
0
[ 0.615234375, 136.23046875, 54.140625, 109.599609375, -4.130859375, -0.13289035856723785 ]
[ -0.439453125, 145.01953125, -19.072265625, 100.1953125, -2.548828125, 1.7434619665145874 ]
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": 30,
    "total_frames": 10072,
    "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": [
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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": [
                1080,
                1920,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "info": {
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                "video.height": 1080,
                "video.width": 1920,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
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                1920,
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 1080,
                "video.width": 1920,
                "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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        "task_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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