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Datasets:
yycgreentea
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so100_test

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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observation.state
list
timestamp
float32
0
14.9
frame_index
int64
0
372
episode_index
int64
0
29
index
int64
0
11.2k
task_index
int64
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2.76
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2.8
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2.84
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2.88
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2.92
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2.96
74
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3.04
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3.08
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77
0
[ 1.58203125, 76.904296875, 67.587890625, 73.4765625, 158.115234375, 0.859375 ]
[ 1.0546875, 76.552734375, 72.94921875, 74.70703125, 158.203125, 0.5805515050888062 ]
3.12
78
0
78
0
[ 1.58203125, 76.640625, 67.587890625, 73.4765625, 158.115234375, 0.859375 ]
[ 1.0546875, 75.673828125, 72.94921875, 74.53125, 158.203125, 0.5805515050888062 ]
3.16
79
0
79
0
[ 1.58203125, 76.640625, 67.587890625, 73.4765625, 158.115234375, 0.78125 ]
[ 1.0546875, 75.05859375, 72.94921875, 74.443359375, 158.203125, 0.5805515050888062 ]
3.2
80
0
80
0
[ 1.58203125, 76.81640625, 67.587890625, 73.4765625, 158.115234375, 0.78125 ]
[ 1.0546875, 74.619140625, 72.94921875, 74.443359375, 158.203125, 0.5805515050888062 ]
3.24
81
0
81
0
[ 1.58203125, 76.904296875, 67.587890625, 73.4765625, 158.115234375, 0.78125 ]
[ 1.0546875, 74.53125, 72.94921875, 74.443359375, 158.203125, 0.5805515050888062 ]
3.28
82
0
82
0
[ 1.58203125, 76.904296875, 67.587890625, 73.4765625, 158.115234375, 0.78125 ]
[ 1.0546875, 74.53125, 72.94921875, 74.443359375, 158.203125, 0.5805515050888062 ]
3.32
83
0
83
0
[ 1.58203125, 76.904296875, 67.587890625, 73.4765625, 158.115234375, 0.78125 ]
[ 1.0546875, 74.53125, 72.94921875, 74.443359375, 158.203125, 0.5805515050888062 ]
3.36
84
0
84
0
[ 1.58203125, 76.728515625, 67.587890625, 73.388671875, 158.115234375, 0.859375 ]
[ 1.0546875, 74.53125, 72.94921875, 74.443359375, 158.203125, 0.5805515050888062 ]
3.4
85
0
85
0
[ 1.58203125, 76.640625, 67.587890625, 73.388671875, 158.115234375, 0.9375000596046448 ]
[ 1.0546875, 74.53125, 72.94921875, 74.443359375, 158.203125, 0.5805515050888062 ]
3.44
86
0
86
0
[ 1.58203125, 76.552734375, 67.587890625, 73.388671875, 158.115234375, 1.015625 ]
[ 1.0546875, 74.53125, 72.94921875, 74.443359375, 158.203125, 0.5805515050888062 ]
3.48
87
0
87
0
[ 1.58203125, 76.552734375, 67.587890625, 73.388671875, 158.02734375, 1.71875 ]
[ 1.0546875, 74.53125, 72.94921875, 74.443359375, 158.203125, 0.5805515050888062 ]
3.52
88
0
88
0
[ 1.494140625, 76.640625, 67.587890625, 73.388671875, 158.02734375, 3.4375 ]
[ 1.0546875, 74.53125, 72.94921875, 74.443359375, 158.203125, 0.5805515050888062 ]
3.56
89
0
89
0
[ 1.494140625, 76.640625, 67.587890625, 73.388671875, 158.02734375, 6.25 ]
[ 1.0546875, 74.53125, 72.94921875, 74.443359375, 158.203125, 1.015965223312378 ]
3.6
90
0
90
0
[ 1.494140625, 76.640625, 67.587890625, 73.388671875, 157.939453125, 10 ]
[ 1.0546875, 74.53125, 72.94921875, 74.443359375, 158.203125, 1.9593613147735596 ]
3.64
91
0
91
0
[ 1.494140625, 76.640625, 67.5, 73.388671875, 157.939453125, 14.375 ]
[ 1.0546875, 74.53125, 72.94921875, 74.443359375, 158.203125, 3.193033456802368 ]
3.68
92
0
92
0
[ 1.494140625, 76.552734375, 67.5, 73.388671875, 157.939453125, 19.0625 ]
[ 1.0546875, 74.53125, 72.94921875, 74.443359375, 158.203125, 5.4426703453063965 ]
3.72
93
0
93
0
[ 1.40625, 76.46484375, 67.5, 73.388671875, 157.939453125, 23.828125 ]
[ 1.0546875, 74.53125, 72.94921875, 74.443359375, 158.203125, 8.272859573364258 ]
3.76
94
0
94
0
[ 1.23046875, 76.376953125, 67.5, 73.388671875, 157.939453125, 28.593748092651367 ]
[ 1.0546875, 74.53125, 72.94921875, 74.443359375, 158.203125, 11.756168365478516 ]
3.8
95
0
95
0
[ 0.966796875, 76.376953125, 67.5, 73.388671875, 157.939453125, 32.96875 ]
[ 1.0546875, 74.53125, 72.94921875, 74.443359375, 158.203125, 15.457184791564941 ]
3.84
96
0
96
0
[ 0.791015625, 76.376953125, 67.5, 73.388671875, 157.939453125, 37.265625 ]
[ 1.0546875, 74.53125, 72.94921875, 74.443359375, 158.203125, 19.59361457824707 ]
3.88
97
0
97
0
[ 0.703125, 76.376953125, 67.5, 73.388671875, 157.939453125, 40.546875 ]
[ 1.0546875, 74.53125, 72.94921875, 74.443359375, 158.203125, 23.8026123046875 ]
3.92
98
0
98
0
[ 0.615234375, 76.376953125, 67.5, 73.388671875, 157.939453125, 43.90625 ]
[ 1.0546875, 74.53125, 72.94921875, 74.443359375, 158.203125, 28.011611938476562 ]
3.96
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": 2,
    "total_frames": 1491,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 25,
    "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"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 25,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.phone": {
            "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": 25,
                "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": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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