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Datasets:
BENVBAI
/
so100_eraser2bowl_gd2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
eraser
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Dask
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sequence
observation.state
sequence
timestamp
float32
0
29.7
frame_index
int64
0
892
episode_index
int64
0
39
index
int64
0
35.1k
task_index
int64
0
0
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1.366667
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1.433333
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1.466667
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1.533333
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46
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1.566667
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47
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1.6
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1.633333
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1.666667
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50
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1.7
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1.733333
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1.766667
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1.8
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1.833333
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1.866667
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1.9
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1.933333
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1.966667
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2
60
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60
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2.033333
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2.066667
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2.1
63
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2.133333
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64
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2.166667
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2.233333
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2.266667
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68
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2.3
69
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2.333333
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0
70
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2.366667
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2.4
72
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72
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2.433333
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73
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2.466667
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74
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2.5
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75
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2.533333
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76
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2.566667
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77
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2.6
78
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78
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2.633333
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79
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2.666667
80
0
80
0
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2.7
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2.733333
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82
0
[ 14.150390625, 127.880859375, 127.705078125, 38.056640625, -9.931640625, 10.30351448059082 ]
[ 13.798828125, 134.47265625, 134.296875, 38.232421875, -9.66796875, 10.040160179138184, 0.9473369717597961, 0.783462643623352, 0.9993301630020142, 0.914775013923645, 0.13695384562015533, 0.18530382215976715, 0.46375012397766113, 0.5628635287284851 ]
2.766667
83
0
83
0
[ 14.150390625, 125.68359375, 126.03515625, 38.056640625, -9.931640625, 10.30351448059082 ]
[ 13.798828125, 131.923828125, 132.626953125, 38.232421875, -9.66796875, 10.040160179138184, 0.9473369717597961, 0.783462643623352, 0.9993301630020142, 0.914775013923645, 0.13695384562015533, 0.18530382215976715, 0.46375012397766113, 0.5628635287284851 ]
2.8
84
0
84
0
[ 14.150390625, 123.486328125, 124.453125, 37.880859375, -10.01953125, 10.30351448059082 ]
[ 13.798828125, 129.462890625, 130.869140625, 38.232421875, -9.66796875, 10.040160179138184, 0.9473369717597961, 0.783462643623352, 0.9993301630020142, 0.914775013923645, 0.13695384562015533, 0.18530382215976715, 0.46375012397766113, 0.5628635287284851 ]
2.833333
85
0
85
0
[ 14.150390625, 121.2890625, 122.783203125, 37.79296875, -10.283203125, 10.30351448059082 ]
[ 13.798828125, 127.177734375, 129.375, 38.232421875, -9.66796875, 10.040160179138184, 0.9473369717597961, 0.783462643623352, 0.9993301630020142, 0.914775013923645, 0.13695384562015533, 0.18530382215976715, 0.46375012397766113, 0.5628635287284851 ]
2.866667
86
0
86
0
[ 14.150390625, 119.091796875, 121.025390625, 37.96875, -10.283203125, 10.30351448059082 ]
[ 13.798828125, 124.8046875, 127.705078125, 38.232421875, -9.66796875, 10.040160179138184, 0.9473369717597961, 0.783462643623352, 0.9993301630020142, 0.914775013923645, 0.13695384562015533, 0.18530382215976715, 0.46375012397766113, 0.5628635287284851 ]
2.9
87
0
87
0
[ 13.88671875, 116.89453125, 119.35546875, 38.056640625, -10.283203125, 10.30351448059082 ]
[ 13.798828125, 122.51953125, 126.03515625, 38.232421875, -9.755859375, 10.040160179138184, 0.9473369717597961, 0.783462643623352, 0.9993301630020142, 0.914775013923645, 0.13695384562015533, 0.18530382215976715, 0.46375012397766113, 0.5628635287284851 ]
2.933333
88
0
88
0
[ 13.271484375, 114.697265625, 117.7734375, 38.056640625, -10.546875, 10.30351448059082 ]
[ 13.798828125, 120.322265625, 124.453125, 38.232421875, -9.84375, 10.040160179138184, 0.9473369717597961, 0.783462643623352, 0.9993301630020142, 0.914775013923645, 0.13695384562015533, 0.18530382215976715, 0.46375012397766113, 0.5628635287284851 ]
2.966667
89
0
89
0
[ 12.568359375, 112.587890625, 116.455078125, 38.14453125, -10.546875, 10.30351448059082 ]
[ 13.798828125, 118.125, 122.607421875, 38.232421875, -9.84375, 10.040160179138184, 0.9473369717597961, 0.783462643623352, 0.9993301630020142, 0.914775013923645, 0.13695384562015533, 0.18530382215976715, 0.46375012397766113, 0.5628635287284851 ]
3
90
0
90
0
[ 11.77734375, 110.56640625, 115.48828125, 38.14453125, -10.634765625, 10.30351448059082 ]
[ 13.53515625, 115.6640625, 120.9375, 38.232421875, -10.107421875, 10.040160179138184, 0.9473369717597961, 0.783462643623352, 0.9993301630020142, 0.914775013923645, 0.13695384562015533, 0.18530382215976715, 0.46375012397766113, 0.5628635287284851 ]
3.033333
91
0
91
0
[ 10.72265625, 108.544921875, 114.521484375, 38.14453125, -10.634765625, 10.30351448059082 ]
[ 13.095703125, 113.5546875, 119.70703125, 38.232421875, -10.1953125, 10.040160179138184, 0.9473369717597961, 0.783462643623352, 0.9993301630020142, 0.914775013923645, 0.13695384562015533, 0.18530382215976715, 0.46375012397766113, 0.5628635287284851 ]
3.066667
92
0
92
0
[ 9.4921875, 106.611328125, 113.5546875, 38.14453125, -10.634765625, 10.30351448059082 ]
[ 12.3046875, 111.4453125, 118.564453125, 38.232421875, -10.1953125, 10.040160179138184, 0.9473369717597961, 0.783462643623352, 0.9993301630020142, 0.914775013923645, 0.13695384562015533, 0.18530382215976715, 0.46375012397766113, 0.5628635287284851 ]
3.1
93
0
93
0
[ 8.173828125, 104.94140625, 112.763671875, 38.14453125, -10.634765625, 10.30351448059082 ]
[ 11.337890625, 109.423828125, 117.509765625, 38.232421875, -10.1953125, 10.040160179138184, 0.9473369717597961, 0.783462643623352, 0.9993301630020142, 0.914775013923645, 0.13695384562015533, 0.18530382215976715, 0.46375012397766113, 0.5628635287284851 ]
3.133333
94
0
94
0
[ 6.85546875, 103.447265625, 112.1484375, 38.14453125, -10.634765625, 10.30351448059082 ]
[ 10.1953125, 107.490234375, 116.455078125, 38.232421875, -10.1953125, 10.040160179138184, 0.9473369717597961, 0.783462643623352, 0.9993301630020142, 0.914775013923645, 0.13695384562015533, 0.18530382215976715, 0.46375012397766113, 0.5628635287284851 ]
3.166667
95
0
95
0
[ 5.625, 102.3046875, 111.62109375, 38.14453125, -10.634765625, 10.30351448059082 ]
[ 8.96484375, 105.8203125, 115.576171875, 38.232421875, -10.1953125, 10.040160179138184, 0.9473369717597961, 0.783462643623352, 0.9993301630020142, 0.914775013923645, 0.13695384562015533, 0.18530382215976715, 0.46375012397766113, 0.5628635287284851 ]
3.2
96
0
96
0
[ 4.482421875, 101.337890625, 111.26953125, 38.14453125, -10.634765625, 10.30351448059082 ]
[ 7.734375, 104.23828125, 114.873046875, 38.232421875, -10.1953125, 10.040160179138184, 0.9473369717597961, 0.783462643623352, 0.9993301630020142, 0.914775013923645, 0.13695384562015533, 0.18530382215976715, 0.46375012397766113, 0.5628635287284851 ]
3.233333
97
0
97
0
[ 3.251953125, 100.458984375, 110.91796875, 38.14453125, -10.458984375, 10.30351448059082 ]
[ 6.591796875, 102.83203125, 114.2578125, 38.232421875, -10.1953125, 10.040160179138184, 0.9473369717597961, 0.783462643623352, 0.9993301630020142, 0.914775013923645, 0.13695384562015533, 0.18530382215976715, 0.46375012397766113, 0.5628635287284851 ]
3.266667
98
0
98
0
[ 2.197265625, 99.755859375, 110.7421875, 38.14453125, -10.37109375, 10.30351448059082 ]
[ 5.361328125, 101.689453125, 113.818359375, 38.232421875, -10.1953125, 10.040160179138184, 0.9473369717597961, 0.783462643623352, 0.9993301630020142, 0.914775013923645, 0.13695384562015533, 0.18530382215976715, 0.46375012397766113, 0.5628635287284851 ]
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": 40,
    "total_frames": 35080,
    "total_tasks": 1,
    "total_videos": 40,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:40"
    },
    "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": [
                14
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper",
                "pick_x1",
                "pick_y1",
                "pick_x2",
                "pick_y2",
                "place_x1",
                "place_y1",
                "place_x2",
                "place_y2"
            ]
        },
        "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": "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": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "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:
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Number of rows:
35,080