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Datasets:
BENVBAI
/
so100_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
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parquet
Size:
< 1K
Tags:
LeRobot
so100
tutorial
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pandas
License:
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action
sequence
observation.state
sequence
timestamp
float32
0
29.8
frame_index
int64
0
744
episode_index
int64
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0
index
int64
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744
task_index
int64
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73
0
[ -1.7578125, 113.02734375, 92.4609375, 75.322265625, 33.92578125, -0.15974441170692444 ]
[ -0.966796875, 102.216796875, 85.60546875, 76.376953125, 33.837890625, 2.8112449645996094 ]
2.96
74
0
74
0
[ -1.845703125, 116.54296875, 95.9765625, 74.35546875, 34.013671875, -0.15974441170692444 ]
[ -1.142578125, 105.1171875, 88.06640625, 76.376953125, 33.837890625, 2.8112449645996094 ]
3
75
0
75
0
[ -1.845703125, 120.849609375, 99.755859375, 73.30078125, 34.1015625, -0.15974441170692444 ]
[ -1.318359375, 108.28125, 90.966796875, 76.025390625, 33.837890625, 2.8112449645996094 ]
3.04
76
0
76
0
[ -1.845703125, 125.68359375, 103.798828125, 72.24609375, 33.662109375, -0.15974441170692444 ]
[ -1.494140625, 111.357421875, 93.8671875, 75.234375, 33.837890625, 2.8112449645996094 ]
3.08
77
0
77
0
[ -1.845703125, 131.30859375, 107.9296875, 71.103515625, 33.486328125, -0.15974441170692444 ]
[ -1.669921875, 115.927734375, 97.998046875, 74.267578125, 33.837890625, 2.8112449645996094 ]
3.12
78
0
78
0
[ -1.845703125, 137.109375, 112.32421875, 69.697265625, 33.486328125, -0.15974441170692444 ]
[ -1.669921875, 119.267578125, 100.8984375, 73.564453125, 33.837890625, 2.8112449645996094 ]
3.16
79
0
79
0
[ -1.845703125, 142.3828125, 116.54296875, 67.763671875, 33.134765625, -0.15974441170692444 ]
[ -1.669921875, 123.662109375, 104.677734375, 72.421875, 33.837890625, 2.8112449645996094 ]
3.2
80
0
80
0
[ -1.93359375, 147.392578125, 120.322265625, 64.951171875, 31.9921875, -0.15974441170692444 ]
[ -1.669921875, 128.84765625, 108.720703125, 71.279296875, 33.837890625, 2.8112449645996094 ]
3.24
81
0
81
0
[ -2.373046875, 151.259765625, 123.662109375, 62.05078125, 30.41015625, -0.15974441170692444 ]
[ -1.669921875, 134.296875, 112.763671875, 69.609375, 33.486328125, 2.8112449645996094 ]
3.28
82
0
82
0
[ -3.1640625, 154.16015625, 126.123046875, 59.23828125, 28.828125, -0.15974441170692444 ]
[ -1.669921875, 139.658203125, 116.806640625, 67.412109375, 32.607421875, 2.8112449645996094 ]
3.32
83
0
83
0
[ -4.306640625, 155.91796875, 128.232421875, 56.953125, 27.24609375, -0.15974441170692444 ]
[ -2.197265625, 144.580078125, 120.76171875, 64.951171875, 31.376953125, 2.8112449645996094 ]
3.36
84
0
84
0
[ -5.625, 156.09375, 129.462890625, 55.107421875, 26.015625, -0.15974441170692444 ]
[ -3.1640625, 148.7109375, 124.1015625, 62.40234375, 30.05859375, 2.8112449645996094 ]
3.4
85
0
85
0
[ -6.943359375, 156.005859375, 130.078125, 53.349609375, 25.13671875, -0.15974441170692444 ]
[ -4.130859375, 151.69921875, 126.5625, 60.029296875, 28.4765625, 2.8112449645996094 ]
3.44
86
0
86
0
[ -8.26171875, 155.302734375, 130.25390625, 51.767578125, 24.9609375, -0.15974441170692444 ]
[ -5.2734375, 153.28125, 128.3203125, 58.0078125, 27.333984375, 2.8112449645996094 ]
3.48
87
0
87
0
[ -9.580078125, 153.896484375, 129.90234375, 50.625, 24.78515625, -0.15974441170692444 ]
[ -6.328125, 153.80859375, 129.638671875, 56.07421875, 26.3671875, 2.8112449645996094 ]
3.52
88
0
88
0
[ -10.634765625, 151.875, 129.638671875, 49.306640625, 24.78515625, -0.15974441170692444 ]
[ -7.646484375, 153.896484375, 129.90234375, 54.404296875, 25.83984375, 2.8112449645996094 ]
3.56
89
0
89
0
[ -11.6015625, 149.501953125, 128.935546875, 47.63671875, 24.78515625, -0.15974441170692444 ]
[ -8.876953125, 153.6328125, 129.90234375, 52.822265625, 25.48828125, 2.8112449645996094 ]
3.6
90
0
90
0
[ -12.568359375, 146.6015625, 127.79296875, 46.40625, 24.78515625, -0.15974441170692444 ]
[ -9.84375, 152.75390625, 129.814453125, 51.416015625, 25.3125, 2.8112449645996094 ]
3.64
91
0
91
0
[ -13.359375, 143.349609375, 126.38671875, 45.17578125, 24.78515625, -0.15974441170692444 ]
[ -10.8984375, 150.556640625, 129.814453125, 49.833984375, 25.3125, 2.8112449645996094 ]
3.68
92
0
92
0
[ -14.23828125, 140.009765625, 124.453125, 44.47265625, 24.78515625, -0.15974441170692444 ]
[ -11.77734375, 148.359375, 129.814453125, 48.515625, 25.3125, 2.8112449645996094 ]
3.72
93
0
93
0
[ -15.205078125, 136.58203125, 122.16796875, 44.384765625, 24.873046875, -0.15974441170692444 ]
[ -12.744140625, 145.810546875, 129.111328125, 47.109375, 25.3125, 2.8112449645996094 ]
3.76
94
0
94
0
[ -15.99609375, 132.978515625, 119.53125, 44.384765625, 24.873046875, -0.15974441170692444 ]
[ -13.7109375, 142.822265625, 127.79296875, 46.40625, 25.3125, 2.8112449645996094 ]
3.8
95
0
95
0
[ -16.787109375, 129.462890625, 116.54296875, 44.384765625, 24.873046875, -0.15974441170692444 ]
[ -14.58984375, 139.5703125, 125.947265625, 45.87890625, 25.3125, 2.8112449645996094 ]
3.84
96
0
96
0
[ -17.578125, 126.123046875, 113.37890625, 44.47265625, 24.9609375, -0.15974441170692444 ]
[ -15.46875, 136.23046875, 123.75, 45.703125, 25.3125, 2.8112449645996094 ]
3.88
97
0
97
0
[ -18.45703125, 122.6953125, 110.21484375, 44.560546875, 24.9609375, -0.15974441170692444 ]
[ -16.34765625, 132.626953125, 121.201171875, 45.52734375, 25.3125, 2.8112449645996094 ]
3.92
98
0
98
0
[ -19.3359375, 119.619140625, 107.2265625, 44.82421875, 25.048828125, -0.15974441170692444 ]
[ -17.2265625, 129.19921875, 118.4765625, 45.52734375, 25.3125, 2.8112449645996094 ]
3.96
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": 745,
    "total_tasks": 1,
    "total_videos": 1,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 25,
    "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
            ],
            "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.single_camera": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 25.0,
                "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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