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Datasets:
samanthalhy
/
so100_test_1

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
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Dask
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action
sequence
observation.state
sequence
timestamp
float32
0
22.5
frame_index
int64
0
674
episode_index
int64
0
50
index
int64
0
24.5k
task_index
int64
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[ -0.966796875, 85.869140625, 109.86328125, 70.400390625, -97.3828125, 13.50728988647461 ]
2.4
72
0
72
0
[ -1.318359375, 89.560546875, 109.599609375, 70.927734375, -95.625, -0.41580042243003845 ]
[ -0.966796875, 86.220703125, 109.86328125, 70.400390625, -96.943359375, 13.50728988647461 ]
2.433333
73
0
73
0
[ -1.318359375, 89.82421875, 109.599609375, 71.015625, -95.185546875, -0.41580042243003845 ]
[ -0.966796875, 86.484375, 109.86328125, 70.400390625, -96.50390625, 13.50728988647461 ]
2.466667
74
0
74
0
[ -1.318359375, 90.17578125, 109.599609375, 71.015625, -94.5703125, -0.41580042243003845 ]
[ -0.966796875, 86.748046875, 109.86328125, 70.400390625, -96.15234375, 13.50728988647461 ]
2.5
75
0
75
0
[ -1.318359375, 90.439453125, 109.599609375, 71.103515625, -94.130859375, -0.41580042243003845 ]
[ -0.966796875, 87.099609375, 109.86328125, 70.48828125, -95.712890625, 13.50728988647461 ]
2.533333
76
0
76
0
[ -1.23046875, 90.703125, 109.599609375, 71.279296875, -93.779296875, -0.41580042243003845 ]
[ -0.966796875, 87.451171875, 109.86328125, 70.6640625, -95.09765625, 13.50728988647461 ]
2.566667
77
0
77
0
[ -1.142578125, 90.966796875, 109.51171875, 71.630859375, -93.515625, -0.41580042243003845 ]
[ -0.966796875, 87.71484375, 109.86328125, 70.83984375, -94.658203125, 13.50728988647461 ]
2.6
78
0
78
0
[ -0.966796875, 91.318359375, 109.51171875, 71.89453125, -93.33984375, -0.41580042243003845 ]
[ -0.966796875, 87.978515625, 109.86328125, 70.927734375, -94.306640625, 13.50728988647461 ]
2.633333
79
0
79
0
[ -0.966796875, 91.669921875, 109.51171875, 72.333984375, -93.251953125, -0.41580042243003845 ]
[ -0.966796875, 88.2421875, 109.86328125, 71.279296875, -93.955078125, 13.50728988647461 ]
2.666667
80
0
80
0
[ -0.791015625, 91.845703125, 109.248046875, 73.212890625, -93.251953125, -0.41580042243003845 ]
[ -0.966796875, 88.59375, 109.86328125, 71.54296875, -93.779296875, 13.50728988647461 ]
2.7
81
0
81
0
[ -0.52734375, 92.197265625, 108.984375, 74.091796875, -93.251953125, -0.41580042243003845 ]
[ -0.966796875, 88.9453125, 109.86328125, 71.89453125, -93.603515625, 13.50728988647461 ]
2.733333
82
0
82
0
[ -0.439453125, 92.8125, 108.984375, 74.35546875, -93.1640625, -0.41580042243003845 ]
[ -0.966796875, 89.296875, 109.86328125, 72.509765625, -93.515625, 13.50728988647461 ]
2.766667
83
0
83
0
[ -0.3515625, 93.251953125, 109.16015625, 74.35546875, -92.63671875, -0.41580042243003845 ]
[ -0.966796875, 89.736328125, 109.86328125, 73.30078125, -93.515625, 13.50728988647461 ]
2.8
84
0
84
0
[ -0.263671875, 93.603515625, 109.16015625, 74.35546875, -92.28515625, -0.41580042243003845 ]
[ -0.87890625, 90.087890625, 109.86328125, 73.65234375, -93.427734375, 13.50728988647461 ]
2.833333
85
0
85
0
[ -0.087890625, 93.955078125, 109.248046875, 74.35546875, -91.845703125, -0.41580042243003845 ]
[ -0.791015625, 90.615234375, 109.86328125, 73.828125, -93.076171875, 13.50728988647461 ]
2.866667
86
0
86
0
[ 0.17578125, 94.21875, 109.248046875, 74.35546875, -91.318359375, -0.41580042243003845 ]
[ -0.703125, 90.966796875, 109.86328125, 73.916015625, -92.63671875, 13.50728988647461 ]
2.9
87
0
87
0
[ 0.52734375, 94.658203125, 109.072265625, 74.443359375, -90.87890625, -0.41580042243003845 ]
[ -0.52734375, 91.40625, 109.86328125, 73.916015625, -92.197265625, 13.50728988647461 ]
2.933333
88
0
88
0
[ 0.87890625, 94.921875, 108.984375, 74.8828125, -90.791015625, -0.41580042243003845 ]
[ -0.3515625, 91.7578125, 109.86328125, 73.916015625, -91.845703125, 13.50728988647461 ]
2.966667
89
0
89
0
[ 1.318359375, 95.361328125, 108.896484375, 75.5859375, -91.142578125, -0.41580042243003845 ]
[ 0, 92.021484375, 109.86328125, 74.091796875, -91.40625, 13.50728988647461 ]
3
90
0
90
0
[ 1.58203125, 95.625, 108.896484375, 75.9375, -91.23046875, -0.41580042243003845 ]
[ 0.439453125, 92.373046875, 109.86328125, 74.443359375, -91.318359375, 13.50728988647461 ]
3.033333
91
0
91
0
[ 1.669921875, 95.888671875, 108.896484375, 76.11328125, -91.142578125, -0.41580042243003845 ]
[ 0.87890625, 92.724609375, 109.86328125, 74.970703125, -91.40625, 13.50728988647461 ]
3.066667
92
0
92
0
[ 1.7578125, 95.9765625, 108.896484375, 76.11328125, -90.87890625, -0.41580042243003845 ]
[ 1.318359375, 93.076171875, 109.86328125, 75.41015625, -91.40625, 13.50728988647461 ]
3.1
93
0
93
0
[ 1.845703125, 96.15234375, 108.896484375, 76.11328125, -90.703125, -0.41580042243003845 ]
[ 1.40625, 93.33984375, 109.86328125, 75.5859375, -91.40625, 13.50728988647461 ]
3.133333
94
0
94
0
[ 1.93359375, 96.416015625, 108.896484375, 76.11328125, -90.52734375, -0.41580042243003845 ]
[ 1.40625, 93.603515625, 109.86328125, 75.76171875, -91.23046875, 13.50728988647461 ]
3.166667
95
0
95
0
[ 2.021484375, 96.6796875, 108.896484375, 76.11328125, -90.3515625, -0.41580042243003845 ]
[ 1.23046875, 93.779296875, 109.86328125, 75.849609375, -90.966796875, 13.50728988647461 ]
3.2
96
0
96
0
[ 2.28515625, 96.85546875, 108.896484375, 76.201171875, -90.263671875, -0.41580042243003845 ]
[ 1.318359375, 93.955078125, 109.86328125, 75.9375, -90.791015625, 13.50728988647461 ]
3.233333
97
0
97
0
[ 2.4609375, 97.119140625, 108.896484375, 76.46484375, -90.263671875, -0.41580042243003845 ]
[ 1.58203125, 94.21875, 109.86328125, 75.9375, -90.615234375, 13.50728988647461 ]
3.266667
98
0
98
0
[ 2.724609375, 97.294921875, 108.6328125, 77.34375, -90.703125, -0.41580042243003845 ]
[ 2.109375, 94.306640625, 109.86328125, 75.9375, -90.52734375, 13.50728988647461 ]
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": 5,
    "total_frames": 2461,
    "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": {
            "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": {
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                "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,
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            ],
            "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": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
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                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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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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