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Datasets:
NONHUMAN-RESEARCH
/
SOARM100_TASK_VENDA_BOX

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
test
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
1
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action
sequence
observation.state
sequence
timestamp
float32
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16.9
frame_index
int64
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506
episode_index
int64
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49
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int64
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25.3k
task_index
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[ -4.04296875, 130.25390625, 120.322265625, 58.7109375, -0.263671875, -0.19512194395065308 ]
[ -2.373046875, 133.330078125, 127.705078125, 58.0078125, -0.263671875, 1.0658915042877197 ]
2.433333
73
0
73
0
[ -4.482421875, 128.671875, 118.740234375, 58.798828125, -0.3515625, -0.19512194395065308 ]
[ -2.724609375, 131.923828125, 126.474609375, 58.0078125, -0.263671875, 1.0658915042877197 ]
2.466667
74
0
74
0
[ -4.921875, 127.001953125, 116.982421875, 59.0625, -0.3515625, -0.19512194395065308 ]
[ -3.1640625, 130.517578125, 125.15625, 58.0078125, -0.263671875, 1.0658915042877197 ]
2.5
75
0
75
0
[ -5.44921875, 125.33203125, 115.224609375, 59.326171875, -0.3515625, -0.19512194395065308 ]
[ -3.427734375, 128.935546875, 123.57421875, 58.095703125, -0.263671875, 1.0658915042877197 ]
2.533333
76
0
76
0
[ -5.888671875, 123.662109375, 113.37890625, 59.677734375, -0.3515625, -0.19512194395065308 ]
[ -3.69140625, 127.529296875, 122.080078125, 58.53515625, -0.263671875, 1.0658915042877197 ]
2.566667
77
0
77
0
[ -6.328125, 121.904296875, 111.357421875, 60.1171875, -0.3515625, -0.19512194395065308 ]
[ -4.130859375, 125.859375, 120.5859375, 58.798828125, -0.263671875, 1.0658915042877197 ]
2.6
78
0
78
0
[ -6.85546875, 120.234375, 109.423828125, 60.556640625, -0.3515625, -0.19512194395065308 ]
[ -4.5703125, 124.013671875, 118.916015625, 59.0625, -0.263671875, 1.0658915042877197 ]
2.633333
79
0
79
0
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[ -4.921875, 122.255859375, 117.158203125, 59.58984375, -0.263671875, 1.0658915042877197 ]
2.666667
80
0
80
0
[ -7.822265625, 117.24609375, 105.64453125, 61.34765625, -0.263671875, -0.19512194395065308 ]
[ -5.44921875, 120.498046875, 115.3125, 59.765625, -0.263671875, 1.0658915042877197 ]
2.7
81
0
81
0
[ -8.349609375, 115.83984375, 103.974609375, 61.5234375, -0.17578125, -0.19512194395065308 ]
[ -5.888671875, 118.916015625, 113.466796875, 59.853515625, -0.263671875, 1.0658915042877197 ]
2.733333
82
0
82
0
[ -8.876953125, 114.43359375, 102.48046875, 61.69921875, -0.087890625, -0.19512194395065308 ]
[ -6.328125, 117.333984375, 111.533203125, 60.380859375, -0.263671875, 1.0658915042877197 ]
2.766667
83
0
83
0
[ -9.404296875, 113.115234375, 101.07421875, 61.69921875, 0.087890625, -0.19512194395065308 ]
[ -6.85546875, 115.6640625, 109.599609375, 60.64453125, -0.263671875, 1.0658915042877197 ]
2.8
84
0
84
0
[ -10.01953125, 111.796875, 99.755859375, 61.69921875, 0.263671875, -0.19512194395065308 ]
[ -7.3828125, 114.2578125, 108.10546875, 60.908203125, -0.263671875, 1.0658915042877197 ]
2.833333
85
0
85
0
[ -10.634765625, 110.478515625, 98.61328125, 61.69921875, 0.439453125, -0.19512194395065308 ]
[ -7.998046875, 112.8515625, 106.611328125, 60.908203125, -0.263671875, 1.0658915042877197 ]
2.866667
86
0
86
0
[ -11.162109375, 109.248046875, 97.470703125, 61.787109375, 0.615234375, -0.19512194395065308 ]
[ -8.61328125, 111.26953125, 105.029296875, 60.908203125, -0.263671875, 1.0658915042877197 ]
2.9
87
0
87
0
[ -11.865234375, 108.017578125, 96.50390625, 61.875, 0.966796875, -0.19512194395065308 ]
[ -9.228515625, 109.951171875, 103.7109375, 60.908203125, -0.263671875, 1.0658915042877197 ]
2.933333
88
0
88
0
[ -12.48046875, 106.875, 95.537109375, 61.875, 1.142578125, -0.19512194395065308 ]
[ -9.755859375, 108.720703125, 102.48046875, 60.908203125, -0.263671875, 1.0658915042877197 ]
2.966667
89
0
89
0
[ -13.18359375, 105.732421875, 94.5703125, 61.875, 1.40625, -0.19512194395065308 ]
[ -10.283203125, 107.40234375, 101.337890625, 60.908203125, -0.17578125, 1.0658915042877197 ]
3
90
0
90
0
[ -13.88671875, 104.58984375, 93.69140625, 61.875, 1.7578125, -0.19512194395065308 ]
[ -11.07421875, 105.908203125, 100.01953125, 60.908203125, 0.263671875, 1.0658915042877197 ]
3.033333
91
0
91
0
[ -14.677734375, 103.447265625, 92.8125, 61.875, 2.021484375, -0.19512194395065308 ]
[ -11.513671875, 104.765625, 99.052734375, 60.908203125, 0.439453125, 1.0658915042877197 ]
3.066667
92
0
92
0
[ -15.380859375, 102.3046875, 91.93359375, 61.875, 2.28515625, -0.19512194395065308 ]
[ -12.12890625, 103.447265625, 98.0859375, 60.908203125, 0.791015625, 1.0658915042877197 ]
3.1
93
0
93
0
[ -16.083984375, 101.25, 91.0546875, 61.875, 2.4609375, -0.19512194395065308 ]
[ -12.919921875, 102.392578125, 96.943359375, 60.908203125, 1.23046875, 1.0658915042877197 ]
3.133333
94
0
94
0
[ -16.787109375, 100.1953125, 90.17578125, 61.875, 2.63671875, -0.19512194395065308 ]
[ -13.623046875, 101.337890625, 96.15234375, 60.908203125, 1.494140625, 1.0658915042877197 ]
3.166667
95
0
95
0
[ -17.40234375, 99.140625, 89.296875, 61.875, 2.900390625, -0.19512194395065308 ]
[ -14.23828125, 100.1953125, 95.44921875, 60.908203125, 1.669921875, 1.0658915042877197 ]
3.2
96
0
96
0
[ -18.017578125, 98.173828125, 88.41796875, 61.875, 2.98828125, -0.19512194395065308 ]
[ -14.94140625, 99.140625, 94.5703125, 60.908203125, 1.58203125, 1.0658915042877197 ]
3.233333
97
0
97
0
[ -18.6328125, 97.20703125, 87.451171875, 61.875, 3.1640625, -0.19512194395065308 ]
[ -15.732421875, 98.173828125, 93.779296875, 60.908203125, 1.58203125, 1.0658915042877197 ]
3.266667
98
0
98
0
[ -19.248046875, 96.240234375, 86.572265625, 61.875, 3.33984375, -0.19512194395065308 ]
[ -16.435546875, 97.03125, 92.8125, 60.908203125, 1.7578125, 1.0658915042877197 ]
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": 50,
    "total_frames": 25346,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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": [
                480,
                640,
                3
            ],
            "names": [
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        },
        "observation.images.phone": {
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            "shape": [
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                640,
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            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
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                "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
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            "names": null
        }
    }
}

Citation

BibTeX:

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Downloads last month
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License:
apache-2.0
Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
1.37 MB
Number of rows:
25,346