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Datasets:
therarelab
/
med_dis_parallel_rare

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
35.6
frame_index
int64
0
1.07k
episode_index
int64
0
14
index
int64
0
11.7k
task_index
int64
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72
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[ -2.724609375, 196.875, 162.0703125, 16.083984375, 98.4375, 4.181184768676758 ]
[ -2.63671875, 191.07421875, 168.3984375, 18.544921875, 98.4375, 4.276315689086914 ]
2.433333
73
0
73
0
[ -2.724609375, 196.875, 161.630859375, 15.29296875, 98.173828125, 4.355401039123535 ]
[ -2.63671875, 191.07421875, 167.51953125, 18.369140625, 98.26171875, 4.276315689086914 ]
2.466667
74
0
74
0
[ -2.724609375, 196.787109375, 161.279296875, 14.4140625, 97.734375, 5.400696754455566 ]
[ -2.63671875, 191.07421875, 166.904296875, 18.10546875, 98.26171875, 4.276315689086914 ]
2.5
75
0
75
0
[ -2.724609375, 196.69921875, 160.83984375, 13.798828125, 97.55859375, 5.749128818511963 ]
[ -2.63671875, 191.07421875, 166.201171875, 17.578125, 98.0859375, 4.276315689086914 ]
2.533333
76
0
76
0
[ -2.724609375, 195.99609375, 160.13671875, 13.53515625, 98.0859375, 5.749128818511963 ]
[ -2.63671875, 191.07421875, 165.673828125, 16.875, 97.734375, 4.276315689086914 ]
2.566667
77
0
77
0
[ -2.8125, 194.58984375, 159.08203125, 13.53515625, 98.61328125, 5.749128818511963 ]
[ -2.63671875, 191.07421875, 165.05859375, 16.171875, 97.55859375, 4.276315689086914 ]
2.6
78
0
78
0
[ -2.8125, 193.18359375, 158.02734375, 13.447265625, 98.701171875, 5.749128818511963 ]
[ -2.63671875, 191.07421875, 164.443359375, 15.64453125, 97.822265625, 4.276315689086914 ]
2.633333
79
0
79
0
[ -2.900390625, 191.77734375, 157.32421875, 12.919921875, 98.7890625, 5.749128818511963 ]
[ -2.63671875, 191.07421875, 163.916015625, 15.380859375, 97.91015625, 4.276315689086914 ]
2.666667
80
0
80
0
[ -3.076171875, 190.634765625, 156.97265625, 12.12890625, 98.7890625, 5.92334508895874 ]
[ -2.63671875, 191.07421875, 163.125, 15.1171875, 97.91015625, 4.276315689086914 ]
2.7
81
0
81
0
[ -3.33984375, 189.4921875, 156.97265625, 10.72265625, 98.96484375, 5.92334508895874 ]
[ -2.8125, 190.72265625, 162.24609375, 14.765625, 97.91015625, 4.276315689086914 ]
2.733333
82
0
82
0
[ -3.515625, 187.646484375, 156.62109375, 9.228515625, 98.96484375, 5.92334508895874 ]
[ -2.900390625, 190.1953125, 161.3671875, 14.326171875, 97.91015625, 4.276315689086914 ]
2.766667
83
0
83
0
[ -3.603515625, 185.361328125, 156.181640625, 7.646484375, 98.876953125, 5.92334508895874 ]
[ -2.900390625, 189.84375, 160.83984375, 13.623046875, 97.91015625, 4.276315689086914 ]
2.8
84
0
84
0
[ -3.8671875, 182.900390625, 155.56640625, 6.15234375, 98.876953125, 5.92334508895874 ]
[ -2.900390625, 189.140625, 160.400390625, 12.568359375, 97.91015625, 4.276315689086914 ]
2.833333
85
0
85
0
[ -3.955078125, 180.52734375, 155.0390625, 4.482421875, 98.701171875, 5.92334508895874 ]
[ -2.900390625, 187.734375, 160.13671875, 11.337890625, 97.91015625, 4.276315689086914 ]
2.866667
86
0
86
0
[ -4.04296875, 178.2421875, 154.599609375, 2.98828125, 98.525390625, 6.097560882568359 ]
[ -2.8125, 185.888671875, 159.609375, 10.01953125, 97.91015625, 4.276315689086914 ]
2.9
87
0
87
0
[ -4.130859375, 176.396484375, 154.072265625, 2.197265625, 98.4375, 6.097560882568359 ]
[ -2.63671875, 184.130859375, 159.08203125, 8.7890625, 97.91015625, 4.276315689086914 ]
2.933333
88
0
88
0
[ -4.21875, 174.814453125, 153.6328125, 1.58203125, 98.349609375, 6.097560882568359 ]
[ -2.900390625, 182.109375, 158.5546875, 7.119140625, 97.91015625, 4.6052632331848145 ]
2.966667
89
0
89
0
[ -4.04296875, 173.232421875, 153.10546875, 0.87890625, 98.349609375, 6.097560882568359 ]
[ -3.251953125, 180, 158.02734375, 5.888671875, 97.91015625, 4.934210777282715 ]
3
90
0
90
0
[ -3.8671875, 171.474609375, 152.2265625, 0.791015625, 98.349609375, 6.097560882568359 ]
[ -3.427734375, 177.451171875, 157.587890625, 4.833984375, 97.91015625, 5.263157844543457 ]
3.033333
91
0
91
0
[ -3.69140625, 169.98046875, 151.5234375, 0.703125, 98.349609375, 6.271777153015137 ]
[ -3.603515625, 175.693359375, 157.1484375, 3.8671875, 97.91015625, 5.427631855010986 ]
3.066667
92
0
92
0
[ -3.69140625, 168.57421875, 150.732421875, 0.615234375, 98.173828125, 6.445992946624756 ]
[ -3.603515625, 173.759765625, 156.62109375, 3.251953125, 97.91015625, 5.427631855010986 ]
3.1
93
0
93
0
[ -3.515625, 167.431640625, 150.1171875, 0.615234375, 98.173828125, 7.491289138793945 ]
[ -3.427734375, 171.9140625, 156.09375, 2.900390625, 97.91015625, 5.427631855010986 ]
3.133333
94
0
94
0
[ -3.33984375, 166.2890625, 149.4140625, 0.615234375, 98.173828125, 9.756096839904785 ]
[ -3.33984375, 170.419921875, 155.302734375, 2.63671875, 97.91015625, 5.427631855010986 ]
3.166667
95
0
95
0
[ -2.900390625, 165.146484375, 148.798828125, 0.615234375, 98.0859375, 12.717769622802734 ]
[ -3.251953125, 169.013671875, 154.775390625, 2.373046875, 97.91015625, 5.921052932739258 ]
3.2
96
0
96
0
[ -2.197265625, 163.388671875, 147.744140625, 0.615234375, 97.646484375, 16.027875900268555 ]
[ -3.076171875, 167.6953125, 154.072265625, 2.28515625, 97.91015625, 7.236842155456543 ]
3.233333
97
0
97
0
[ -1.23046875, 161.279296875, 146.513671875, 0.615234375, 97.470703125, 19.860626220703125 ]
[ -2.63671875, 166.46484375, 153.193359375, 2.28515625, 97.822265625, 9.539473533630371 ]
3.266667
98
0
98
0
[ -0.3515625, 159.609375, 145.546875, 0.52734375, 97.55859375, 23.5191650390625 ]
[ -2.28515625, 165.322265625, 152.490234375, 2.28515625, 97.470703125, 12.335526466369629 ]
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": 15,
    "total_frames": 11660,
    "total_tasks": 1,
    "total_videos": 30,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:15"
    },
    "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": [
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            "info": {
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                "video.codec": "av1",
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        "observation.images.phone": {
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            "names": [
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                "channels"
            ],
            "info": {
                "video.fps": 30.0,
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                "video.channels": 3,
                "video.codec": "av1",
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                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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                1
            ],
            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Number of rows:
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