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sergiov2000
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so100_leader_arm_stack_ball_40

Tasks:
Robotics
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Tabular
Time-series
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Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
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action
list
observation.state
list
timestamp
float32
0
29.9
frame_index
int64
0
597
episode_index
int64
0
39
index
int64
0
23.9k
task_index
int64
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3.25
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3.45
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69
0
[ -1.494140625, 183.779296875, 186.6796875, 27.94921875, -5.44921875, -0.6134969592094421 ]
[ -2.109375, 184.21875, 186.416015625, 29.443359375, -6.15234375, 0.7450330853462219 ]
3.5
70
0
70
0
[ -1.142578125, 183.427734375, 185.9765625, 28.125, -4.306640625, -0.6134969592094421 ]
[ -2.109375, 184.130859375, 186.416015625, 28.916015625, -5.9765625, 0.7450330853462219 ]
3.55
71
0
71
0
[ -0.966796875, 183.1640625, 184.74609375, 28.828125, -3.779296875, -0.6134969592094421 ]
[ -1.669921875, 183.955078125, 186.416015625, 28.828125, -5.2734375, 0.7450330853462219 ]
3.6
72
0
72
0
[ -0.966796875, 182.109375, 182.8125, 29.970703125, -3.33984375, -0.6134969592094421 ]
[ -1.23046875, 183.69140625, 186.416015625, 28.828125, -4.5703125, 0.7450330853462219 ]
3.65
73
0
73
0
[ -1.142578125, 180.3515625, 180.791015625, 30.76171875, -3.33984375, -0.6134969592094421 ]
[ -1.0546875, 183.1640625, 185.537109375, 29.53125, -4.04296875, 0.7450330853462219 ]
3.7
74
0
74
0
[ -1.40625, 177.451171875, 178.2421875, 31.201171875, -3.69140625, -0.6134969592094421 ]
[ -1.0546875, 181.845703125, 183.8671875, 30.322265625, -3.955078125, 0.7450330853462219 ]
3.75
75
0
75
0
[ -1.58203125, 174.462890625, 175.341796875, 32.16796875, -3.515625, -0.6134969592094421 ]
[ -1.0546875, 179.82421875, 182.109375, 30.673828125, -3.955078125, 0.7450330853462219 ]
3.8
76
0
76
0
[ -1.58203125, 172.265625, 172.44140625, 33.046875, -3.251953125, -0.6134969592094421 ]
[ -1.318359375, 176.923828125, 180.52734375, 31.640625, -3.955078125, 0.7450330853462219 ]
3.85
77
0
77
0
[ -1.58203125, 170.244140625, 169.1015625, 34.8046875, -3.251953125, -0.6134969592094421 ]
[ -1.40625, 174.0234375, 178.76953125, 32.431640625, -3.955078125, 0.7450330853462219 ]
3.9
78
0
78
0
[ -1.7578125, 167.87109375, 165.41015625, 36.650390625, -3.076171875, -0.6134969592094421 ]
[ -1.40625, 172.08984375, 176.044921875, 33.662109375, -3.955078125, 0.7450330853462219 ]
3.95
79
0
79
0
[ -2.021484375, 165.41015625, 161.89453125, 38.408203125, -3.076171875, -0.6134969592094421 ]
[ -1.40625, 169.98046875, 172.96875, 35.244140625, -3.955078125, 0.7450330853462219 ]
4
80
0
80
0
[ -2.98828125, 163.212890625, 158.5546875, 40.078125, -3.779296875, -0.6134969592094421 ]
[ -1.494140625, 167.431640625, 169.716796875, 37.001953125, -3.955078125, 0.7450330853462219 ]
4.05
81
0
81
0
[ -3.69140625, 160.751953125, 155.302734375, 42.01171875, -3.515625, -0.6134969592094421 ]
[ -1.7578125, 164.970703125, 165.9375, 38.671875, -3.955078125, 0.7450330853462219 ]
4.1
82
0
82
0
[ -4.74609375, 158.291015625, 152.314453125, 43.505859375, -3.779296875, -0.6134969592094421 ]
[ -2.900390625, 162.861328125, 162.685546875, 40.517578125, -3.955078125, 0.7450330853462219 ]
4.15
83
0
83
0
[ -5.712890625, 155.7421875, 148.974609375, 45.52734375, -4.306640625, -0.6134969592094421 ]
[ -3.955078125, 160.400390625, 159.345703125, 41.923828125, -3.955078125, 0.7450330853462219 ]
4.2
84
0
84
0
[ -6.50390625, 153.6328125, 146.162109375, 46.845703125, -3.8671875, -0.6134969592094421 ]
[ -4.74609375, 157.939453125, 156.26953125, 43.857421875, -3.955078125, 0.7450330853462219 ]
4.25
85
0
85
0
[ -6.943359375, 151.435546875, 143.0859375, 48.251953125, -2.900390625, -0.6134969592094421 ]
[ -5.537109375, 155.56640625, 153.10546875, 45.52734375, -3.955078125, 0.7450330853462219 ]
4.3
86
0
86
0
[ -7.646484375, 149.326171875, 140.888671875, 48.427734375, -2.63671875, -0.6134969592094421 ]
[ -6.15234375, 153.45703125, 150.029296875, 47.021484375, -3.955078125, 0.7450330853462219 ]
4.35
87
0
87
0
[ -8.61328125, 147.041015625, 138.603515625, 49.21875, -2.724609375, -0.6134969592094421 ]
[ -6.591796875, 151.083984375, 147.041015625, 47.63671875, -3.427734375, 0.7450330853462219 ]
4.4
88
0
88
0
[ -9.4921875, 144.66796875, 136.40625, 49.921875, -2.63671875, -0.6134969592094421 ]
[ -7.470703125, 148.7109375, 144.84375, 48.603515625, -3.251953125, 0.7450330853462219 ]
4.45
89
0
89
0
[ -10.634765625, 142.294921875, 134.033203125, 50.625, -2.28515625, -0.6134969592094421 ]
[ -8.61328125, 146.25, 142.119140625, 49.21875, -3.251953125, 0.7450330853462219 ]
4.5
90
0
90
0
[ -11.513671875, 139.74609375, 131.572265625, 51.767578125, -1.58203125, -0.6134969592094421 ]
[ -9.755859375, 144.228515625, 140.009765625, 49.921875, -2.900390625, 0.7450330853462219 ]
4.55
91
0
91
0
[ -12.392578125, 137.197265625, 128.84765625, 53.26171875, -1.318359375, -0.6134969592094421 ]
[ -10.634765625, 141.591796875, 137.63671875, 50.888671875, -2.28515625, 0.7450330853462219 ]
4.6
92
0
92
0
[ -12.919921875, 134.6484375, 126.5625, 54.404296875, -0.791015625, -0.6134969592094421 ]
[ -11.337890625, 139.04296875, 135.087890625, 52.20703125, -1.845703125, 0.7450330853462219 ]
4.65
93
0
93
0
[ -13.88671875, 132.01171875, 124.013671875, 55.986328125, -1.142578125, -0.6134969592094421 ]
[ -11.865234375, 136.494140625, 132.275390625, 53.349609375, -1.494140625, 0.7450330853462219 ]
4.7
94
0
94
0
[ -14.765625, 129.462890625, 121.640625, 57.83203125, -0.966796875, -0.6134969592094421 ]
[ -12.65625, 133.9453125, 130.25390625, 54.755859375, -1.318359375, 0.7450330853462219 ]
4.75
95
0
95
0
[ -15.908203125, 126.9140625, 119.091796875, 59.853515625, -0.791015625, -0.6134969592094421 ]
[ -13.7109375, 131.1328125, 127.44140625, 56.42578125, -1.40625, 0.7450330853462219 ]
4.8
96
0
96
0
[ -16.69921875, 124.62890625, 116.630859375, 61.5234375, 0, -0.6134969592094421 ]
[ -14.853515625, 128.671875, 124.892578125, 58.271484375, -1.318359375, 0.7450330853462219 ]
4.85
97
0
97
0
[ -17.578125, 122.34375, 114.2578125, 63.10546875, 0.263671875, 0.10224948823451996 ]
[ -15.732421875, 126.38671875, 122.51953125, 59.94140625, -1.0546875, 0.7450330853462219 ]
4.9
98
0
98
0
[ -18.45703125, 120.234375, 112.32421875, 64.51171875, 1.0546875, 1.3292433023452759 ]
[ -16.611328125, 123.662109375, 120.146484375, 61.611328125, -0.439453125, 0.7450330853462219 ]
4.95
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": 40,
    "total_frames": 23919,
    "total_tasks": 1,
    "total_videos": 80,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 20,
    "splits": {
        "train": "0:40"
    },
    "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.above": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
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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",
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                "has_audio": false
            }
        },
        "observation.images.side": {
            "dtype": "video",
            "shape": [
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                640,
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 20.0,
                "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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Size of downloaded dataset files:
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Number of rows:
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