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Datasets:
samsitol
/
so100_PnP

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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action
sequence
observation.state
sequence
timestamp
float32
0
19.3
frame_index
int64
0
578
episode_index
int64
0
49
index
int64
0
23.4k
task_index
int64
0
0
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[ -1.7578125, 186.416015625, 156.796875, 61.171875, 174.90234375, 0.8382229804992676 ]
2.566667
77
0
77
0
[ -0.615234375, 186.767578125, 148.798828125, 60.908203125, 173.84765625, 0 ]
[ -1.318359375, 186.416015625, 155.390625, 61.171875, 174.638671875, 0.8382229804992676 ]
2.6
78
0
78
0
[ -0.17578125, 186.767578125, 147.392578125, 60.908203125, 173.583984375, 0 ]
[ -0.966796875, 186.50390625, 154.072265625, 61.171875, 174.287109375, 0.8382229804992676 ]
2.633333
79
0
79
0
[ 0.3515625, 186.767578125, 146.07421875, 60.908203125, 173.49609375, 0 ]
[ -0.52734375, 186.591796875, 152.578125, 61.171875, 174.0234375, 0.8382229804992676 ]
2.666667
80
0
80
0
[ 0.87890625, 186.591796875, 144.755859375, 60.908203125, 173.408203125, 0 ]
[ 0, 186.767578125, 151.259765625, 61.171875, 173.84765625, 0.8382229804992676 ]
2.7
81
0
81
0
[ 1.40625, 185.712890625, 143.26171875, 60.8203125, 173.14453125, 0 ]
[ 0.439453125, 186.943359375, 149.94140625, 61.171875, 173.84765625, 0.8382229804992676 ]
2.733333
82
0
82
0
[ 1.669921875, 183.955078125, 141.328125, 60.732421875, 172.6171875, 0 ]
[ 1.0546875, 186.85546875, 148.53515625, 61.171875, 173.583984375, 0.8382229804992676 ]
2.766667
83
0
83
0
[ 1.845703125, 181.494140625, 139.39453125, 60.46875, 172.001953125, 0 ]
[ 1.40625, 185.9765625, 147.12890625, 61.171875, 173.14453125, 0.8382229804992676 ]
2.8
84
0
84
0
[ 1.845703125, 178.59375, 137.28515625, 60.029296875, 171.298828125, 0 ]
[ 1.669921875, 184.482421875, 145.458984375, 61.171875, 172.705078125, 0.8382229804992676 ]
2.833333
85
0
85
0
[ 1.7578125, 175.869140625, 135.439453125, 59.4140625, 170.595703125, 0 ]
[ 1.7578125, 182.63671875, 143.61328125, 61.171875, 172.177734375, 0.8382229804992676 ]
2.866667
86
0
86
0
[ 1.58203125, 172.96875, 133.681640625, 58.7109375, 169.892578125, 0 ]
[ 1.845703125, 180.52734375, 141.591796875, 61.083984375, 171.474609375, 0.8382229804992676 ]
2.9
87
0
87
0
[ 1.494140625, 170.15625, 132.099609375, 57.919921875, 169.365234375, 0 ]
[ 1.669921875, 177.802734375, 139.658203125, 60.556640625, 170.859375, 0.8382229804992676 ]
2.933333
88
0
88
0
[ 1.23046875, 167.431640625, 130.78125, 56.689453125, 168.75, 0 ]
[ 1.58203125, 174.638671875, 137.63671875, 59.94140625, 170.244140625, 0.8382229804992676 ]
2.966667
89
0
89
0
[ 0.966796875, 164.794921875, 129.462890625, 55.634765625, 168.310546875, 0 ]
[ 1.494140625, 172.177734375, 136.142578125, 59.326171875, 169.62890625, 0.8382229804992676 ]
3
90
0
90
0
[ 0.703125, 161.89453125, 128.14453125, 54.580078125, 167.783203125, 0 ]
[ 1.23046875, 169.541015625, 134.82421875, 58.359375, 169.1015625, 0.8382229804992676 ]
3.033333
91
0
91
0
[ 0.439453125, 158.994140625, 126.650390625, 53.7890625, 167.080078125, 0 ]
[ 0.966796875, 166.552734375, 133.330078125, 57.3046875, 168.662109375, 0.8382229804992676 ]
3.066667
92
0
92
0
[ 0.17578125, 156.005859375, 124.98046875, 53.26171875, 166.376953125, 0 ]
[ 0.615234375, 163.740234375, 132.01171875, 56.337890625, 167.958984375, 0.8382229804992676 ]
3.1
93
0
93
0
[ -0.087890625, 153.017578125, 123.134765625, 52.998046875, 165.498046875, 0 ]
[ 0.3515625, 160.83984375, 130.4296875, 55.458984375, 167.34375, 0.8382229804992676 ]
3.133333
94
0
94
0
[ -0.263671875, 149.94140625, 121.201171875, 52.822265625, 164.70703125, 0 ]
[ 0.17578125, 157.412109375, 128.84765625, 54.755859375, 166.640625, 0.8382229804992676 ]
3.166667
95
0
95
0
[ -0.52734375, 147.041015625, 119.1796875, 52.822265625, 163.916015625, 0 ]
[ -0.087890625, 154.3359375, 127.08984375, 54.228515625, 165.76171875, 0.8382229804992676 ]
3.2
96
0
96
0
[ -0.615234375, 144.4921875, 117.421875, 52.734375, 163.30078125, 0 ]
[ -0.3515625, 151.5234375, 125.244140625, 53.96484375, 165.05859375, 0.8382229804992676 ]
3.233333
97
0
97
0
[ -0.703125, 142.20703125, 115.751953125, 52.734375, 162.685546875, 0 ]
[ -0.703125, 148.271484375, 123.662109375, 53.7890625, 164.35546875, 0.8382229804992676 ]
3.266667
98
0
98
0
[ -0.791015625, 140.09765625, 114.169921875, 52.734375, 162.0703125, 0 ]
[ -0.703125, 145.458984375, 122.080078125, 53.701171875, 163.740234375, 0.8382229804992676 ]
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": 50,
    "total_frames": 23377,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.head": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "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",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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License:
apache-2.0
Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
23,377