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wu12581
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so100_test_dtp

Tasks:
Robotics
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10K - 100K
Tags:
LeRobot
so100
tutorial
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action
sequence
observation.state
sequence
timestamp
float32
0
11.9
frame_index
int64
0
357
episode_index
int64
0
29
index
int64
0
10.7k
task_index
int64
0
0
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[ 3.33984375, 198.28125, 167.87109375, 79.8046875, 4.04296875, -7.000946044921875 ]
[ 1.669921875, 197.490234375, 167.431640625, 78.662109375, 2.021484375, -4.793863773345947 ]
2.466667
74
0
74
0
[ 3.427734375, 198.28125, 167.87109375, 79.716796875, 4.130859375, -7.000946044921875 ]
[ 1.93359375, 197.490234375, 167.431640625, 78.662109375, 2.021484375, -4.793863773345947 ]
2.5
75
0
75
0
[ 3.515625, 198.28125, 167.87109375, 79.62890625, 4.306640625, -7.000946044921875 ]
[ 2.28515625, 197.490234375, 167.431640625, 78.662109375, 2.373046875, -4.793863773345947 ]
2.533333
76
0
76
0
[ 3.779296875, 198.017578125, 167.958984375, 79.1015625, 4.5703125, -7.000946044921875 ]
[ 2.548828125, 197.490234375, 167.431640625, 78.662109375, 2.724609375, -4.793863773345947 ]
2.566667
77
0
77
0
[ 4.04296875, 197.05078125, 167.87109375, 78.22265625, 4.482421875, -7.000946044921875 ]
[ 2.63671875, 197.490234375, 167.431640625, 78.662109375, 3.076171875, -4.793863773345947 ]
2.6
78
0
78
0
[ 4.04296875, 195.1171875, 166.728515625, 77.080078125, 4.04296875, -6.906338691711426 ]
[ 2.724609375, 197.490234375, 167.431640625, 78.662109375, 3.251953125, -4.793863773345947 ]
2.633333
79
0
79
0
[ 4.04296875, 192.12890625, 164.619140625, 76.11328125, 3.69140625, -6.62251615524292 ]
[ 2.724609375, 197.490234375, 167.431640625, 78.662109375, 3.427734375, -4.793863773345947 ]
2.666667
80
0
80
0
[ 3.779296875, 188.26171875, 161.806640625, 75.146484375, 2.900390625, -6.62251615524292 ]
[ 2.8125, 197.2265625, 167.431640625, 78.57421875, 3.603515625, -4.793863773345947 ]
2.7
81
0
81
0
[ 3.603515625, 183.779296875, 158.90625, 74.00390625, 1.58203125, -6.62251615524292 ]
[ 2.8125, 196.34765625, 167.431640625, 78.22265625, 3.515625, -4.793863773345947 ]
2.733333
82
0
82
0
[ 3.515625, 179.208984375, 156.181640625, 73.037109375, -0.263671875, -6.62251615524292 ]
[ 2.98828125, 194.853515625, 167.34375, 77.6953125, 3.33984375, -4.793863773345947 ]
2.766667
83
0
83
0
[ 3.515625, 174.990234375, 154.16015625, 71.89453125, -2.63671875, -6.527908802032471 ]
[ 3.33984375, 192.83203125, 166.640625, 77.16796875, 2.8125, -4.793863773345947 ]
2.8
84
0
84
0
[ 3.955078125, 170.771484375, 152.138671875, 71.19140625, -6.50390625, -6.244087219238281 ]
[ 3.427734375, 190.1953125, 165.322265625, 76.376953125, 2.197265625, -4.793863773345947 ]
2.833333
85
0
85
0
[ 4.306640625, 166.552734375, 149.501953125, 70.83984375, -7.470703125, -1.3245033025741577 ]
[ 3.427734375, 187.03125, 163.65234375, 75.498046875, 1.40625, -4.793863773345947 ]
2.866667
86
0
86
0
[ 4.39453125, 161.982421875, 146.07421875, 71.19140625, -7.470703125, -1.2298959493637085 ]
[ 3.427734375, 183.603515625, 161.982421875, 74.619140625, 0.087890625, -4.793863773345947 ]
2.9
87
0
87
0
[ 4.39453125, 157.32421875, 141.85546875, 72.333984375, -7.734375, -1.2298959493637085 ]
[ 3.427734375, 179.912109375, 160.048828125, 73.828125, -1.40625, -4.697986602783203 ]
2.933333
88
0
88
0
[ 4.5703125, 152.9296875, 137.373046875, 73.212890625, -10.986328125, -1.2298959493637085 ]
[ 3.427734375, 176.044921875, 157.8515625, 73.30078125, -2.63671875, -4.026845455169678 ]
2.966667
89
0
89
0
[ 4.921875, 148.7109375, 133.505859375, 73.564453125, -14.150390625, -0.5676442980766296 ]
[ 3.427734375, 171.474609375, 155.478515625, 73.212890625, -3.69140625, -3.3557045459747314 ]
3
90
0
90
0
[ 5.09765625, 145.1953125, 130.078125, 72.94921875, -11.162109375, 3.31125807762146 ]
[ 3.427734375, 167.080078125, 152.75390625, 73.212890625, -4.74609375, -2.7804410457611084 ]
3.033333
91
0
91
0
[ 5.185546875, 141.591796875, 126.73828125, 73.212890625, -11.689453125, 6.811731338500977 ]
[ 3.427734375, 162.861328125, 149.677734375, 73.212890625, -6.328125, -2.3010547161102295 ]
3.066667
92
0
92
0
[ 5.2734375, 138.076171875, 123.22265625, 73.65234375, -12.568359375, 9.933774948120117 ]
[ 3.69140625, 158.994140625, 146.6015625, 73.212890625, -7.91015625, -1.6299138069152832 ]
3.1
93
0
93
0
[ 5.44921875, 135, 120.5859375, 72.7734375, -11.337890625, 11.825922012329102 ]
[ 4.04296875, 155.0390625, 143.26171875, 73.212890625, -9.052734375, -0.0958772748708725 ]
3.133333
94
0
94
0
[ 5.625, 131.923828125, 118.564453125, 71.3671875, -10.1953125, 14.758750915527344 ]
[ 4.306640625, 151.083984375, 139.833984375, 73.212890625, -9.66796875, 1.9175455570220947 ]
3.166667
95
0
95
0
[ 5.361328125, 128.759765625, 116.19140625, 70.400390625, -9.31640625, 16.745506286621094 ]
[ 4.482421875, 147.12890625, 136.318359375, 73.212890625, -9.84375, 3.9309685230255127 ]
3.2
96
0
96
0
[ 5.2734375, 125.33203125, 113.642578125, 69.78515625, -7.734375, 17.502365112304688 ]
[ 4.5703125, 143.349609375, 133.154296875, 73.125, -9.84375, 6.13614559173584 ]
3.233333
97
0
97
0
[ 5.2734375, 121.728515625, 110.830078125, 69.609375, -5.80078125, 18.921476364135742 ]
[ 4.658203125, 139.658203125, 130.078125, 72.685546875, -9.84375, 8.24544620513916 ]
3.266667
98
0
98
0
[ 5.2734375, 118.037109375, 108.017578125, 69.609375, -4.04296875, 20.90822982788086 ]
[ 4.74609375, 136.23046875, 127.08984375, 72.0703125, -9.228515625, 10.354745864868164 ]
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": 30,
    "total_frames": 10740,
    "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": [
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                640,
                3
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            "names": [
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            "info": {
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                "video.height": 480,
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                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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        },
        "observation.images.phone": {
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                640,
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            "names": [
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            ],
            "info": {
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                "video.height": 480,
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                "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
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            "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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