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Datasets:
Cidoyi
/
so100_00000

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
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parquet
Size:
< 1K
Tags:
LeRobot
so100
tutorial
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pandas
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action
sequence
observation.state
sequence
timestamp
float32
0
25.3
frame_index
int64
0
758
episode_index
int64
0
0
index
int64
0
758
task_index
int64
0
0
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[ -23.466796875, 122.607421875, 156.62109375, -26.015625, 182.98828125, 97.50859069824219 ]
2.366667
71
0
71
0
[ -23.90625, 121.81640625, 156.884765625, -26.71875, 184.306640625, 96.97248077392578 ]
[ -23.5546875, 122.51953125, 156.62109375, -26.103515625, 182.98828125, 97.59449768066406 ]
2.4
72
0
72
0
[ -24.169921875, 121.728515625, 156.884765625, -27.24609375, 184.306640625, 96.97248077392578 ]
[ -23.5546875, 122.34375, 156.62109375, -26.103515625, 182.98828125, 97.59449768066406 ]
2.433333
73
0
73
0
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[ -23.5546875, 122.080078125, 156.708984375, -26.3671875, 182.98828125, 97.59449768066406 ]
2.466667
74
0
74
0
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[ -23.5546875, 122.080078125, 156.796875, -26.71875, 182.98828125, 97.59449768066406 ]
2.5
75
0
75
0
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[ -23.73046875, 121.9921875, 156.796875, -27.421875, 182.98828125, 97.59449768066406 ]
2.533333
76
0
76
0
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[ -23.994140625, 122.51953125, 156.884765625, -27.861328125, 182.98828125, 97.59449768066406 ]
2.566667
77
0
77
0
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[ -24.345703125, 123.662109375, 156.97265625, -27.94921875, 182.98828125, 97.59449768066406 ]
2.6
78
0
78
0
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[ -24.697265625, 125.244140625, 156.97265625, -27.94921875, 182.98828125, 97.59449768066406 ]
2.633333
79
0
79
0
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[ -25.13671875, 126.73828125, 156.97265625, -27.94921875, 182.98828125, 97.42268371582031 ]
2.666667
80
0
80
0
[ -25.13671875, 131.220703125, 156.181640625, -29.00390625, 183.076171875, 97.43119812011719 ]
[ -25.400390625, 127.529296875, 156.97265625, -27.94921875, 182.98828125, 97.25086212158203 ]
2.7
81
0
81
0
[ -25.13671875, 131.484375, 156.181640625, -29.00390625, 183.076171875, 97.43119812011719 ]
[ -25.400390625, 127.880859375, 156.97265625, -27.94921875, 182.98828125, 97.25086212158203 ]
2.733333
82
0
82
0
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[ -25.224609375, 128.232421875, 156.97265625, -27.94921875, 182.98828125, 97.25086212158203 ]
2.766667
83
0
83
0
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[ -24.9609375, 128.583984375, 157.060546875, -27.94921875, 182.98828125, 97.25086212158203 ]
2.8
84
0
84
0
[ -24.873046875, 132.36328125, 156.181640625, -29.00390625, 183.1640625, 97.43119812011719 ]
[ -24.873046875, 129.0234375, 157.060546875, -27.94921875, 182.98828125, 97.25086212158203 ]
2.833333
85
0
85
0
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[ -24.873046875, 129.287109375, 157.060546875, -27.94921875, 182.98828125, 97.25086212158203 ]
2.866667
86
0
86
0
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[ -24.873046875, 129.55078125, 157.060546875, -27.94921875, 182.98828125, 97.25086212158203 ]
2.9
87
0
87
0
[ -24.9609375, 131.8359375, 156.357421875, -29.00390625, 183.427734375, 97.43119812011719 ]
[ -24.873046875, 129.55078125, 157.060546875, -27.94921875, 182.98828125, 97.25086212158203 ]
2.933333
88
0
88
0
[ -25.3125, 131.8359375, 156.357421875, -29.00390625, 183.427734375, 97.43119812011719 ]
[ -24.873046875, 129.55078125, 157.060546875, -27.94921875, 182.98828125, 97.25086212158203 ]
2.966667
89
0
89
0
[ -25.751953125, 131.8359375, 156.357421875, -29.00390625, 183.515625, 97.43119812011719 ]
[ -24.873046875, 129.55078125, 157.060546875, -27.94921875, 182.98828125, 97.25086212158203 ]
3
90
0
90
0
[ -26.279296875, 131.8359375, 156.357421875, -29.00390625, 183.69140625, 97.43119812011719 ]
[ -24.873046875, 129.55078125, 157.060546875, -27.94921875, 182.98828125, 97.25086212158203 ]
3.033333
91
0
91
0
[ -26.806640625, 131.748046875, 156.357421875, -29.00390625, 183.8671875, 97.43119812011719 ]
[ -25.13671875, 129.55078125, 157.060546875, -27.94921875, 182.98828125, 97.25086212158203 ]
3.066667
92
0
92
0
[ -27.24609375, 131.66015625, 156.357421875, -29.00390625, 183.8671875, 97.43119812011719 ]
[ -25.576171875, 129.55078125, 157.060546875, -27.94921875, 182.98828125, 97.25086212158203 ]
3.1
93
0
93
0
[ -27.7734375, 131.484375, 156.357421875, -29.00390625, 183.8671875, 97.43119812011719 ]
[ -26.19140625, 129.55078125, 157.060546875, -27.94921875, 182.98828125, 97.25086212158203 ]
3.133333
94
0
94
0
[ -28.4765625, 131.044921875, 156.4453125, -29.00390625, 183.8671875, 97.43119812011719 ]
[ -26.982421875, 129.55078125, 157.060546875, -27.94921875, 182.98828125, 97.25086212158203 ]
3.166667
95
0
95
0
[ -29.35546875, 130.517578125, 156.4453125, -29.00390625, 183.8671875, 97.43119812011719 ]
[ -27.685546875, 129.55078125, 157.060546875, -27.94921875, 182.98828125, 97.25086212158203 ]
3.2
96
0
96
0
[ -29.619140625, 130.25390625, 156.4453125, -29.00390625, 183.8671875, 97.43119812011719 ]
[ -28.037109375, 129.55078125, 157.060546875, -27.94921875, 182.98828125, 97.25086212158203 ]
3.233333
97
0
97
0
[ -29.70703125, 130.078125, 156.4453125, -29.00390625, 183.779296875, 97.43119812011719 ]
[ -28.388671875, 129.55078125, 157.060546875, -27.94921875, 182.98828125, 97.25086212158203 ]
3.266667
98
0
98
0
[ -29.619140625, 129.990234375, 156.4453125, -29.00390625, 183.779296875, 97.43119812011719 ]
[ -28.65234375, 129.55078125, 157.060546875, -27.94921875, 182.98828125, 97.25086212158203 ]
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": 1,
    "total_frames": 759,
    "total_tasks": 1,
    "total_videos": 1,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "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.keyboard_camera": {
            "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": "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": {
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            ],
            "names": null
        },
        "index": {
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                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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