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Datasets:
Cidoyi
/
so100_2

Tasks:
Robotics
Modalities:
Tabular
Time-series
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parquet
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< 1K
Tags:
LeRobot
so100
tutorial
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pandas
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action
sequence
observation.state
sequence
timestamp
float32
0
5.73
frame_index
int64
0
172
episode_index
int64
0
0
index
int64
0
172
task_index
int64
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[ -34.892578125, 118.4765625, 154.423828125, -52.734375, 193.271484375, 98.1651382446289 ]
[ -35.68359375, 109.6875, 155.7421875, -53.876953125, 183.33984375, 97.85223388671875 ]
2.4
72
0
72
0
[ -34.98046875, 123.486328125, 154.51171875, -50.2734375, 191.953125, 98.1651382446289 ]
[ -35.33203125, 112.32421875, 155.7421875, -53.4375, 183.33984375, 97.85223388671875 ]
2.433333
73
0
73
0
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[ -34.892578125, 113.994140625, 155.830078125, -52.646484375, 183.251953125, 97.85223388671875 ]
2.466667
74
0
74
0
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[ -34.716796875, 115.751953125, 155.830078125, -51.416015625, 183.251953125, 97.85223388671875 ]
2.5
75
0
75
0
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[ -34.98046875, 120.234375, 155.830078125, -49.04296875, 183.076171875, 97.93814086914062 ]
2.533333
76
0
76
0
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[ -35.33203125, 122.255859375, 155.830078125, -48.33984375, 183.076171875, 97.93814086914062 ]
2.566667
77
0
77
0
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[ -35.771484375, 124.892578125, 155.830078125, -47.4609375, 183.076171875, 98.02405548095703 ]
2.6
78
0
78
0
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[ -35.859375, 127.177734375, 155.830078125, -47.197265625, 183.251953125, 98.28179168701172 ]
2.633333
79
0
79
0
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[ -35.859375, 129.462890625, 155.830078125, -47.197265625, 183.251953125, 98.28179168701172 ]
2.666667
80
0
80
0
[ -37.001953125, 140.361328125, 154.072265625, -47.8125, 188.4375, 98.1651382446289 ]
[ -35.771484375, 131.396484375, 155.830078125, -47.197265625, 183.1640625, 98.28179168701172 ]
2.7
81
0
81
0
[ -37.001953125, 142.470703125, 154.072265625, -47.8125, 187.3828125, 98.1651382446289 ]
[ -36.123046875, 133.857421875, 155.830078125, -47.197265625, 183.076171875, 98.28179168701172 ]
2.733333
82
0
82
0
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[ -36.73828125, 135.263671875, 155.830078125, -47.197265625, 183.076171875, 98.28179168701172 ]
2.766667
83
0
83
0
[ -36.650390625, 144.84375, 154.072265625, -47.63671875, 186.328125, 98.1651382446289 ]
[ -37.08984375, 136.669921875, 155.830078125, -47.197265625, 183.1640625, 98.28179168701172 ]
2.8
84
0
84
0
[ -36.5625, 146.42578125, 154.072265625, -46.845703125, 185.80078125, 98.1651382446289 ]
[ -37.001953125, 138.955078125, 155.91796875, -47.197265625, 183.33984375, 98.28179168701172 ]
2.833333
85
0
85
0
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[ -36.5625, 140.44921875, 155.91796875, -47.197265625, 183.1640625, 98.28179168701172 ]
2.866667
86
0
86
0
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[ -36.5625, 143.4375, 155.91796875, -46.318359375, 183.076171875, 98.28179168701172 ]
2.9
87
0
87
0
[ -36.474609375, 149.765625, 154.599609375, -45.439453125, 183.603515625, 98.07339477539062 ]
[ -36.73828125, 145.01953125, 155.91796875, -45.87890625, 183.076171875, 98.28179168701172 ]
2.933333
88
0
88
0
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[ -36.826171875, 147.041015625, 155.91796875, -45.52734375, 183.076171875, 98.28179168701172 ]
2.966667
89
0
89
0
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[ -36.826171875, 147.83203125, 155.91796875, -45.52734375, 182.98828125, 98.28179168701172 ]
3
90
0
90
0
[ -34.1015625, 156.09375, 156.884765625, -45.52734375, 180.087890625, 98.07339477539062 ]
[ -36.03515625, 148.974609375, 156.005859375, -45.52734375, 182.548828125, 98.28179168701172 ]
3.033333
91
0
91
0
[ -33.57421875, 158.466796875, 158.115234375, -45.52734375, 179.47265625, 98.07339477539062 ]
[ -35.15625, 150.205078125, 156.62109375, -45.52734375, 181.845703125, 98.28179168701172 ]
3.066667
92
0
92
0
[ -32.87109375, 162.158203125, 160.048828125, -45.52734375, 178.9453125, 98.07339477539062 ]
[ -34.27734375, 152.578125, 157.763671875, -45.52734375, 180.703125, 98.28179168701172 ]
3.1
93
0
93
0
[ -32.34375, 164.70703125, 161.630859375, -46.142578125, 178.330078125, 98.07339477539062 ]
[ -34.1015625, 154.599609375, 158.5546875, -45.52734375, 179.912109375, 98.28179168701172 ]
3.133333
94
0
94
0
[ -32.080078125, 166.552734375, 162.861328125, -46.93359375, 177.802734375, 98.07339477539062 ]
[ -33.92578125, 156.62109375, 159.697265625, -45.52734375, 179.736328125, 98.28179168701172 ]
3.166667
95
0
95
0
[ -31.81640625, 168.134765625, 164.00390625, -47.63671875, 177.36328125, 98.07339477539062 ]
[ -33.310546875, 159.08203125, 161.19140625, -45.52734375, 179.12109375, 98.28179168701172 ]
3.2
96
0
96
0
[ -31.376953125, 169.62890625, 164.8828125, -48.076171875, 176.923828125, 98.07339477539062 ]
[ -32.34375, 161.279296875, 162.509765625, -45.52734375, 178.59375, 98.28179168701172 ]
3.233333
97
0
97
0
[ -30.849609375, 171.38671875, 165.76171875, -48.251953125, 176.748046875, 98.07339477539062 ]
[ -31.9921875, 163.65234375, 163.916015625, -46.0546875, 177.802734375, 98.28179168701172 ]
3.266667
98
0
98
0
[ -29.8828125, 174.287109375, 167.431640625, -49.04296875, 176.572265625, 98.07339477539062 ]
[ -31.904296875, 167.51953125, 166.025390625, -46.845703125, 177.275390625, 98.28179168701172 ]
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": 173,
    "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
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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.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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            "shape": [
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            ],
            "names": null
        },
        "index": {
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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