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Datasets:
xhaka3456
/
so100_test2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
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Dask
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xet
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action
sequence
observation.state
sequence
timestamp
float32
0
19.8
frame_index
int64
0
594
episode_index
int64
0
1
index
int64
0
1.19k
task_index
int64
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[ -14.94140625, 120.76171875, 150.46875, 42.451171875, 18.6328125, 11.752433776855469 ]
2.4
72
0
72
0
[ -15.908203125, 121.46484375, 151.34765625, 42.890625, 19.3359375, -0.19157087802886963 ]
[ -15.029296875, 120.76171875, 151.171875, 42.451171875, 18.6328125, 9.666203498840332 ]
2.433333
73
0
73
0
[ -15.908203125, 121.640625, 151.34765625, 42.890625, 19.3359375, -0.19157087802886963 ]
[ -15.1171875, 120.76171875, 151.34765625, 42.5390625, 18.720703125, 6.884562015533447 ]
2.466667
74
0
74
0
[ -15.908203125, 121.81640625, 151.34765625, 42.890625, 19.3359375, -0.19157087802886963 ]
[ -15.1171875, 120.673828125, 151.611328125, 42.451171875, 18.984375, 4.798330783843994 ]
2.5
75
0
75
0
[ -15.908203125, 121.9921875, 151.34765625, 42.890625, 19.3359375, -0.19157087802886963 ]
[ -14.4140625, 120.673828125, 151.5234375, 42.451171875, 19.248046875, 4.38108491897583 ]
2.533333
76
0
76
0
[ -15.99609375, 122.16796875, 151.34765625, 42.890625, 19.3359375, -0.19157087802886963 ]
[ -14.23828125, 120.673828125, 151.69921875, 42.451171875, 18.896484375, 4.311543941497803 ]
2.566667
77
0
77
0
[ -15.99609375, 122.431640625, 151.435546875, 42.890625, 19.3359375, -0.19157087802886963 ]
[ -14.326171875, 120.673828125, 151.69921875, 42.36328125, 19.248046875, 4.311543941497803 ]
2.6
78
0
78
0
[ -15.908203125, 122.87109375, 151.435546875, 42.890625, 19.3359375, -0.19157087802886963 ]
[ -14.853515625, 120.673828125, 151.69921875, 42.36328125, 18.80859375, 4.242002964019775 ]
2.633333
79
0
79
0
[ -15.8203125, 123.3984375, 151.435546875, 42.890625, 19.3359375, -0.19157087802886963 ]
[ -14.94140625, 120.673828125, 151.69921875, 42.451171875, 18.80859375, 4.242002964019775 ]
2.666667
80
0
80
0
[ -15.64453125, 124.1015625, 151.435546875, 42.890625, 19.3359375, -0.19157087802886963 ]
[ -15.029296875, 120.673828125, 151.69921875, 42.451171875, 19.248046875, 4.242002964019775 ]
2.7
81
0
81
0
[ -15.46875, 124.8046875, 151.435546875, 42.890625, 19.3359375, -0.19157087802886963 ]
[ -14.94140625, 121.025390625, 151.69921875, 42.451171875, 19.248046875, 4.242002964019775 ]
2.733333
82
0
82
0
[ -15.205078125, 125.68359375, 151.34765625, 42.890625, 19.3359375, -0.19157087802886963 ]
[ -14.765625, 121.376953125, 151.69921875, 42.451171875, 19.16015625, 4.242002964019775 ]
2.766667
83
0
83
0
[ -15.029296875, 126.826171875, 151.259765625, 42.890625, 19.248046875, -0.19157087802886963 ]
[ -14.58984375, 121.81640625, 151.69921875, 42.451171875, 19.072265625, 4.242002964019775 ]
2.8
84
0
84
0
[ -14.853515625, 127.96875, 151.171875, 42.890625, 19.16015625, -0.19157087802886963 ]
[ -14.58984375, 122.51953125, 151.69921875, 42.451171875, 19.072265625, 4.242002964019775 ]
2.833333
85
0
85
0
[ -14.501953125, 129.287109375, 151.171875, 42.890625, 18.720703125, -0.19157087802886963 ]
[ -14.58984375, 123.310546875, 151.69921875, 42.451171875, 19.072265625, 4.242002964019775 ]
2.866667
86
0
86
0
[ -14.23828125, 130.517578125, 150.99609375, 42.890625, 18.45703125, -0.19157087802886963 ]
[ -14.4140625, 124.453125, 151.69921875, 42.451171875, 18.80859375, 4.242002964019775 ]
2.9
87
0
87
0
[ -13.974609375, 131.572265625, 150.99609375, 42.890625, 18.369140625, -0.19157087802886963 ]
[ -14.23828125, 125.771484375, 151.69921875, 42.451171875, 18.193359375, 4.242002964019775 ]
2.933333
88
0
88
0
[ -13.88671875, 132.626953125, 150.99609375, 42.890625, 18.193359375, -0.19157087802886963 ]
[ -13.88671875, 127.001953125, 151.69921875, 42.451171875, 18.28125, 4.242002964019775 ]
2.966667
89
0
89
0
[ -13.7109375, 133.59375, 150.99609375, 43.06640625, 18.10546875, -0.19157087802886963 ]
[ -13.447265625, 128.232421875, 151.69921875, 42.451171875, 18.193359375, 4.242002964019775 ]
3
90
0
90
0
[ -13.53515625, 134.47265625, 150.99609375, 43.06640625, 18.10546875, -0.19157087802886963 ]
[ -13.095703125, 129.375, 151.69921875, 42.71484375, 18.10546875, 4.242002964019775 ]
3.033333
91
0
91
0
[ -13.359375, 135.439453125, 151.171875, 43.06640625, 18.10546875, -0.19157087802886963 ]
[ -12.919921875, 130.341796875, 151.69921875, 42.978515625, 18.10546875, 4.242002964019775 ]
3.066667
92
0
92
0
[ -13.095703125, 136.40625, 151.259765625, 43.2421875, 18.10546875, -0.28735631704330444 ]
[ -12.83203125, 131.396484375, 151.962890625, 43.06640625, 18.10546875, 4.242002964019775 ]
3.1
93
0
93
0
[ -12.83203125, 137.373046875, 151.34765625, 43.330078125, 18.10546875, -0.28735631704330444 ]
[ -12.83203125, 132.451171875, 152.2265625, 43.06640625, 18.10546875, 4.242002964019775 ]
3.133333
94
0
94
0
[ -12.65625, 138.33984375, 151.435546875, 43.41796875, 18.10546875, -0.28735631704330444 ]
[ -12.83203125, 133.330078125, 152.2265625, 43.06640625, 18.10546875, 4.242002964019775 ]
3.166667
95
0
95
0
[ -12.48046875, 139.21875, 151.435546875, 43.505859375, 18.10546875, -0.28735631704330444 ]
[ -12.568359375, 134.208984375, 152.2265625, 43.06640625, 18.017578125, 4.242002964019775 ]
3.2
96
0
96
0
[ -12.3046875, 140.009765625, 151.5234375, 43.505859375, 18.10546875, -0.28735631704330444 ]
[ -12.392578125, 135.3515625, 152.2265625, 43.06640625, 17.9296875, 4.242002964019775 ]
3.233333
97
0
97
0
[ -12.3046875, 140.712890625, 151.5234375, 43.76953125, 18.10546875, -0.28735631704330444 ]
[ -12.041015625, 136.318359375, 152.2265625, 43.06640625, 18.10546875, 4.242002964019775 ]
3.266667
98
0
98
0
[ -12.3046875, 141.328125, 151.5234375, 43.857421875, 18.10546875, -0.28735631704330444 ]
[ -11.953125, 137.197265625, 152.2265625, 43.06640625, 18.10546875, 4.242002964019775 ]
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": 2,
    "total_frames": 1190,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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.laptop": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "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": {
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                1
            ],
            "names": null
        },
        "task_index": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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