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Datasets:
airthebear
/
so100_GL

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
1
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action
sequence
observation.state
sequence
timestamp
float32
0
14.9
frame_index
int64
0
448
episode_index
int64
0
19
index
int64
0
8.98k
task_index
int64
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[ -20.478515625, 92.4609375, 99.052734375, 78.3984375, 95.625, 23.942651748657227 ]
2.5
75
0
75
0
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[ -21.005859375, 91.40625, 99.052734375, 78.310546875, 96.064453125, 25.94982147216797 ]
2.533333
76
0
76
0
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2.566667
77
0
77
0
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2.6
78
0
78
0
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2.633333
79
0
79
0
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[ -21.796875, 88.154296875, 99.052734375, 75.41015625, 96.591796875, 29.677417755126953 ]
2.666667
80
0
80
0
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[ -21.796875, 87.1875, 99.052734375, 74.70703125, 96.591796875, 30.107528686523438 ]
2.7
81
0
81
0
[ -22.763671875, 85.60546875, 95.44921875, 70.48828125, 97.55859375, 31.860034942626953 ]
[ -21.708984375, 85.869140625, 99.052734375, 73.4765625, 96.591796875, 30.322582244873047 ]
2.733333
82
0
82
0
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2.766667
83
0
83
0
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[ -21.62109375, 84.111328125, 99.052734375, 71.71875, 96.591796875, 30.681001663208008 ]
2.8
84
0
84
0
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[ -21.62109375, 83.671875, 99.052734375, 70.751953125, 96.591796875, 30.752689361572266 ]
2.833333
85
0
85
0
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2.866667
86
0
86
0
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2.9
87
0
87
0
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[ -21.62109375, 82.08984375, 98.96484375, 68.73046875, 96.943359375, 30.752689361572266 ]
2.933333
88
0
88
0
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2.966667
89
0
89
0
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[ -21.62109375, 81.2109375, 98.876953125, 67.763671875, 98.173828125, 30.752689361572266 ]
3
90
0
90
0
[ -22.32421875, 81.2109375, 95.44921875, 65.56640625, 101.337890625, 31.952117919921875 ]
[ -21.62109375, 80.771484375, 98.7890625, 67.060546875, 98.701171875, 30.752689361572266 ]
3.033333
91
0
91
0
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[ -21.533203125, 79.98046875, 98.525390625, 66.62109375, 99.140625, 30.752689361572266 ]
3.066667
92
0
92
0
[ -22.32421875, 80.33203125, 95.44921875, 64.775390625, 101.77734375, 31.952117919921875 ]
[ -21.533203125, 79.365234375, 98.525390625, 65.91796875, 99.755859375, 30.752689361572266 ]
3.1
93
0
93
0
[ -22.32421875, 80.068359375, 95.44921875, 64.51171875, 101.953125, 31.952117919921875 ]
[ -21.533203125, 78.75, 98.525390625, 65.478515625, 100.283203125, 30.752689361572266 ]
3.133333
94
0
94
0
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3.166667
95
0
95
0
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[ -21.533203125, 78.22265625, 98.4375, 64.599609375, 100.546875, 30.752689361572266 ]
3.2
96
0
96
0
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[ -21.533203125, 77.783203125, 98.349609375, 64.6875, 101.07421875, 30.752689361572266 ]
3.233333
97
0
97
0
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[ -21.533203125, 77.51953125, 98.349609375, 64.248046875, 101.337890625, 30.752689361572266 ]
3.266667
98
0
98
0
[ -22.32421875, 79.8046875, 95.888671875, 64.248046875, 103.271484375, 31.952117919921875 ]
[ -21.533203125, 77.255859375, 98.349609375, 64.423828125, 101.513671875, 30.752689361572266 ]
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": 20,
    "total_frames": 8980,
    "total_tasks": 1,
    "total_videos": 20,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:20"
    },
    "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.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": {
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            "shape": [
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            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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