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Datasets:
Congying1112
/
so100_place_blue_bottle_with_single_camera

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
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Dask
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action
sequence
observation.state
sequence
timestamp
float32
0
19.7
frame_index
int64
0
592
episode_index
int64
0
9
index
int64
0
5.93k
task_index
int64
0
0
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[ 35.5078125, 155.390625, 106.5234375, 67.939453125, -102.392578125, 100.10845947265625 ]
[ 32.87109375, 155.302734375, 105.380859375, 67.8515625, -101.337890625, 98.9122543334961 ]
2.433333
73
0
73
0
[ 35.947265625, 155.390625, 106.787109375, 67.939453125, -102.392578125, 100.10845947265625 ]
[ 33.22265625, 155.21484375, 105.8203125, 67.8515625, -101.6015625, 98.9122543334961 ]
2.466667
74
0
74
0
[ 36.38671875, 155.390625, 106.962890625, 67.939453125, -102.392578125, 100.10845947265625 ]
[ 33.486328125, 154.3359375, 105.908203125, 67.8515625, -101.77734375, 98.9122543334961 ]
2.5
75
0
75
0
[ 36.73828125, 155.390625, 107.138671875, 67.939453125, -102.392578125, 100.10845947265625 ]
[ 34.453125, 154.248046875, 105.99609375, 67.8515625, -101.6015625, 98.9122543334961 ]
2.533333
76
0
76
0
[ 37.08984375, 155.390625, 107.578125, 67.939453125, -102.392578125, 100.10845947265625 ]
[ 35.15625, 154.248046875, 105.99609375, 67.8515625, -101.513671875, 98.9122543334961 ]
2.566667
77
0
77
0
[ 37.353515625, 155.390625, 107.841796875, 67.939453125, -102.392578125, 100.10845947265625 ]
[ 35.419921875, 155.21484375, 106.787109375, 67.8515625, -101.513671875, 98.9122543334961 ]
2.6
78
0
78
0
[ 37.6171875, 155.390625, 108.193359375, 67.939453125, -102.392578125, 100.10845947265625 ]
[ 35.68359375, 155.302734375, 106.787109375, 67.8515625, -101.6015625, 98.9122543334961 ]
2.633333
79
0
79
0
[ 37.96875, 155.390625, 108.544921875, 67.939453125, -102.392578125, 100.10845947265625 ]
[ 36.03515625, 155.21484375, 107.05078125, 67.763671875, -101.77734375, 98.9122543334961 ]
2.666667
80
0
80
0
[ 38.232421875, 155.390625, 108.896484375, 67.939453125, -102.83203125, 100.10845947265625 ]
[ 36.5625, 154.86328125, 107.666015625, 67.763671875, -101.513671875, 98.9122543334961 ]
2.7
81
0
81
0
[ 38.583984375, 155.390625, 109.51171875, 67.939453125, -103.7109375, 100.10845947265625 ]
[ 36.826171875, 154.599609375, 108.017578125, 67.763671875, -101.513671875, 98.9122543334961 ]
2.733333
82
0
82
0
[ 39.0234375, 155.56640625, 110.478515625, 67.939453125, -104.765625, 100.10845947265625 ]
[ 36.826171875, 154.423828125, 108.017578125, 67.763671875, -101.513671875, 98.9122543334961 ]
2.766667
83
0
83
0
[ 39.287109375, 156.09375, 112.1484375, 67.67578125, -105.99609375, 100.10845947265625 ]
[ 37.265625, 154.6875, 108.720703125, 67.763671875, -102.48046875, 98.9122543334961 ]
2.8
84
0
84
0
[ 39.462890625, 156.796875, 114.345703125, 66.533203125, -107.05078125, 100.10845947265625 ]
[ 37.96875, 155.21484375, 109.775390625, 67.763671875, -103.18359375, 98.9122543334961 ]
2.833333
85
0
85
0
[ 39.462890625, 157.763671875, 117.333984375, 63.80859375, -107.2265625, 100.10845947265625 ]
[ 38.671875, 155.478515625, 110.7421875, 67.587890625, -103.7109375, 98.9122543334961 ]
2.866667
86
0
86
0
[ 39.462890625, 158.818359375, 120.849609375, 59.853515625, -107.2265625, 100.10845947265625 ]
[ 38.671875, 155.830078125, 112.67578125, 67.060546875, -104.94140625, 98.9122543334961 ]
2.9
87
0
87
0
[ 39.55078125, 159.521484375, 124.716796875, 55.1953125, -107.2265625, 100.10845947265625 ]
[ 38.49609375, 155.830078125, 114.873046875, 65.478515625, -105.908203125, 98.9122543334961 ]
2.933333
88
0
88
0
[ 39.90234375, 159.9609375, 128.583984375, 50.09765625, -107.841796875, 100.10845947265625 ]
[ 38.14453125, 156.62109375, 117.509765625, 63.017578125, -106.259765625, 98.9122543334961 ]
2.966667
89
0
89
0
[ 40.4296875, 160.13671875, 132.890625, 44.208984375, -108.544921875, 100.10845947265625 ]
[ 38.49609375, 157.5, 120.41015625, 60.029296875, -106.34765625, 98.9122543334961 ]
3
90
0
90
0
[ 40.95703125, 159.9609375, 137.4609375, 37.265625, -109.248046875, 100.10845947265625 ]
[ 38.84765625, 158.818359375, 123.837890625, 56.513671875, -106.611328125, 98.9122543334961 ]
3.033333
91
0
91
0
[ 41.484375, 159.609375, 142.470703125, 28.740234375, -110.126953125, 100.10845947265625 ]
[ 39.375, 159.345703125, 127.177734375, 52.3828125, -107.2265625, 98.9122543334961 ]
3.066667
92
0
92
0
[ 42.01171875, 158.90625, 147.919921875, 18.896484375, -110.302734375, 100.10845947265625 ]
[ 39.462890625, 159.2578125, 131.044921875, 47.28515625, -108.10546875, 98.9122543334961 ]
3.1
93
0
93
0
[ 42.451171875, 158.02734375, 153.017578125, 9.66796875, -110.478515625, 100.10845947265625 ]
[ 39.814453125, 158.5546875, 135.3515625, 41.923828125, -108.80859375, 98.9122543334961 ]
3.133333
94
0
94
0
[ 42.802734375, 157.1484375, 157.1484375, 2.98828125, -111.26953125, 100.10845947265625 ]
[ 40.693359375, 158.203125, 140.09765625, 35.068359375, -109.16015625, 98.9122543334961 ]
3.166667
95
0
95
0
[ 42.890625, 156.62109375, 160.224609375, -0.615234375, -111.97265625, 100.10845947265625 ]
[ 41.572265625, 158.115234375, 145.1953125, 27.861328125, -109.423828125, 98.9122543334961 ]
3.2
96
0
96
0
[ 42.978515625, 156.357421875, 162.0703125, -1.7578125, -112.060546875, 100.10845947265625 ]
[ 41.748046875, 157.587890625, 149.765625, 20.830078125, -109.951171875, 98.9122543334961 ]
3.233333
97
0
97
0
[ 42.978515625, 156.26953125, 163.212890625, -1.93359375, -112.060546875, 100.10845947265625 ]
[ 41.396484375, 156.796875, 154.16015625, 13.974609375, -110.478515625, 98.9122543334961 ]
3.266667
98
0
98
0
[ 42.802734375, 156.181640625, 164.8828125, -3.427734375, -112.236328125, 100.10845947265625 ]
[ 41.220703125, 156.357421875, 157.939453125, 8.701171875, -111.09375, 98.9122543334961 ]
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": 10,
    "total_frames": 5927,
    "total_tasks": 1,
    "total_videos": 10,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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.onhand": {
            "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": {
            "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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