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Datasets:
linanbei
/
so100_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
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action
sequence
observation.state
sequence
timestamp
float32
0
22.2
frame_index
int64
0
666
episode_index
int64
0
49
index
int64
0
20.8k
task_index
int64
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[ -0.087890625, 183.076171875, 172.6171875, 56.25, -157.8515625, 5.611222267150879 ]
[ 0.791015625, 181.93359375, 172.08984375, 58.7109375, -159.169921875, 2.4825446605682373 ]
2.433333
73
0
73
0
[ -0.17578125, 183.076171875, 172.6171875, 55.8984375, -158.115234375, 5.911823749542236 ]
[ 0.17578125, 181.93359375, 172.08984375, 57.744140625, -158.203125, 3.180760383605957 ]
2.466667
74
0
74
0
[ -0.439453125, 183.076171875, 172.6171875, 55.01953125, -157.763671875, 6.112224578857422 ]
[ 0.17578125, 181.93359375, 172.08984375, 57.216796875, -157.939453125, 3.9565553665161133 ]
2.5
75
0
75
0
[ -0.439453125, 183.076171875, 172.6171875, 54.140625, -157.67578125, 6.7134270668029785 ]
[ 0.439453125, 181.93359375, 172.08984375, 56.42578125, -157.939453125, 4.344452857971191 ]
2.533333
76
0
76
0
[ -0.17578125, 183.076171875, 172.6171875, 53.349609375, -157.8515625, 8.116232872009277 ]
[ 0.439453125, 181.93359375, 172.08984375, 55.986328125, -157.5, 4.965089321136475 ]
2.566667
77
0
77
0
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[ 0.3515625, 181.93359375, 172.08984375, 55.1953125, -157.412109375, 5.352986812591553 ]
2.6
78
0
78
0
[ 0, 182.548828125, 172.6171875, 51.767578125, -159.345703125, 10.62124252319336 ]
[ 0.263671875, 181.93359375, 172.08984375, 54.228515625, -157.412109375, 6.43910026550293 ]
2.633333
79
0
79
0
[ 0, 182.548828125, 172.6171875, 51.416015625, -160.400390625, 12.0240478515625 ]
[ 0.263671875, 181.845703125, 172.08984375, 53.349609375, -157.67578125, 8.223428726196289 ]
2.666667
80
0
80
0
[ -0.263671875, 182.197265625, 172.6171875, 50.361328125, -161.19140625, 14.128256797790527 ]
[ 0.263671875, 181.845703125, 172.08984375, 52.55859375, -158.37890625, 8.611326217651367 ]
2.7
81
0
81
0
[ -0.791015625, 181.318359375, 172.265625, 47.8125, -160.3125, 16.73346710205078 ]
[ 0.263671875, 181.845703125, 172.08984375, 52.119140625, -159.2578125, 10.007758140563965 ]
2.733333
82
0
82
0
[ -0.791015625, 179.6484375, 171.474609375, 45.3515625, -161.015625, 20.64128303527832 ]
[ 0.263671875, 181.845703125, 172.08984375, 51.15234375, -159.78515625, 12.102404594421387 ]
2.766667
83
0
83
0
[ -1.0546875, 176.1328125, 169.62890625, 44.47265625, -161.455078125, 21.743486404418945 ]
[ 0.17578125, 181.7578125, 172.08984375, 49.482421875, -159.78515625, 13.653995513916016 ]
2.8
84
0
84
0
[ -1.40625, 171.650390625, 167.34375, 43.76953125, -161.3671875, 21.34268569946289 ]
[ 0.17578125, 180.439453125, 172.001953125, 47.548828125, -160.224609375, 15.903800964355469 ]
2.833333
85
0
85
0
[ -1.7578125, 167.958984375, 165.146484375, 42.5390625, -161.455078125, 21.34268569946289 ]
[ -0.263671875, 178.06640625, 171.298828125, 46.0546875, -160.48828125, 18.308767318725586 ]
2.866667
86
0
86
0
[ -1.93359375, 164.091796875, 162.7734375, 41.484375, -161.630859375, 21.34268569946289 ]
[ -0.87890625, 175.166015625, 170.068359375, 44.912109375, -160.576171875, 19.239721298217773 ]
2.9
87
0
87
0
[ -1.93359375, 159.521484375, 160.13671875, 40.25390625, -161.71875, 21.142284393310547 ]
[ -0.87890625, 172.08984375, 168.486328125, 43.76953125, -160.576171875, 19.782777786254883 ]
2.933333
88
0
88
0
[ -1.669921875, 154.51171875, 157.1484375, 38.408203125, -162.24609375, 20.84168243408203 ]
[ -0.52734375, 168.486328125, 166.552734375, 42.71484375, -160.576171875, 20.17067527770996 ]
2.966667
89
0
89
0
[ -1.23046875, 149.0625, 154.072265625, 36.73828125, -162.509765625, 20.54108238220215 ]
[ -0.52734375, 164.8828125, 164.35546875, 41.66015625, -160.83984375, 20.325834274291992 ]
3
90
0
90
0
[ -0.87890625, 143.525390625, 150.908203125, 35.068359375, -163.037109375, 20.440881729125977 ]
[ -0.87890625, 160.83984375, 161.982421875, 40.25390625, -161.3671875, 20.17067527770996 ]
3.033333
91
0
91
0
[ -0.703125, 138.251953125, 147.65625, 34.453125, -163.388671875, 20.440881729125977 ]
[ -1.0546875, 156.4453125, 159.43359375, 38.408203125, -161.630859375, 20.093095779418945 ]
3.066667
92
0
92
0
[ -0.52734375, 133.59375, 145.283203125, 33.22265625, -163.564453125, 20.240480422973633 ]
[ -0.703125, 151.611328125, 156.357421875, 37.08984375, -162.24609375, 20.093095779418945 ]
3.1
93
0
93
0
[ -0.439453125, 129.814453125, 143.96484375, 32.431640625, -164.443359375, 20.14027976989746 ]
[ -0.087890625, 146.42578125, 153.193359375, 35.859375, -162.421875, 20.093095779418945 ]
3.133333
94
0
94
0
[ -0.615234375, 127.44140625, 143.701171875, 32.51953125, -165.05859375, 20.14027976989746 ]
[ 0, 141.591796875, 150.46875, 34.8046875, -162.59765625, 20.093095779418945 ]
3.166667
95
0
95
0
[ -0.966796875, 125.947265625, 144.31640625, 33.134765625, -165.41015625, 19.839679718017578 ]
[ -0.263671875, 136.669921875, 148.18359375, 33.75, -163.388671875, 20.093095779418945 ]
3.2
96
0
96
0
[ -1.58203125, 125.33203125, 145.810546875, 33.310546875, -165.673828125, 19.639278411865234 ]
[ -0.3515625, 132.451171875, 146.865234375, 33.310546875, -164.091796875, 20.093095779418945 ]
3.233333
97
0
97
0
[ -2.28515625, 125.33203125, 147.65625, 33.310546875, -165.673828125, 19.33867645263672 ]
[ -0.3515625, 129.19921875, 146.689453125, 33.486328125, -164.35546875, 19.550039291381836 ]
3.266667
98
0
98
0
[ -2.98828125, 125.244140625, 149.4140625, 33.134765625, -165.673828125, 19.23847770690918 ]
[ -0.3515625, 127.265625, 146.77734375, 33.486328125, -164.53125, 19.31730079650879 ]
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": 20839,
    "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": {
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            "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": [
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                3
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            "names": [
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            "info": {
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        "observation.images.phone": {
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            "names": [
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            "info": {
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                "has_audio": false
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        },
        "timestamp": {
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            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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        "index": {
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        }
    }
}

Citation

BibTeX:

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License:
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Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
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