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Datasets:
FG007
/
so100_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
License:
Dataset card Data Studio Files Community
1
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action
sequence
observation.state
sequence
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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2.4
72
0
72
0
[ -30.76171875, 29.091796875, 23.115234375, 82.529296875, -14.150390625, 14.285715103149414 ]
[ -31.201171875, 28.30078125, 23.115234375, 83.3203125, -14.677734375, 22.38667869567871 ]
2.433333
73
0
73
0
[ -30.673828125, 29.53125, 23.5546875, 82.44140625, -14.23828125, 14.285715103149414 ]
[ -31.201171875, 28.30078125, 23.115234375, 83.232421875, -14.765625, 22.38667869567871 ]
2.466667
74
0
74
0
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[ -31.201171875, 28.30078125, 23.203125, 83.14453125, -14.765625, 22.38667869567871 ]
2.5
75
0
75
0
[ -30.673828125, 30.76171875, 24.609375, 82.44140625, -14.58984375, 13.426423072814941 ]
[ -31.201171875, 28.30078125, 23.37890625, 83.14453125, -14.765625, 22.38667869567871 ]
2.533333
76
0
76
0
[ -30.673828125, 31.46484375, 25.224609375, 82.44140625, -14.677734375, 13.319012641906738 ]
[ -31.201171875, 28.30078125, 23.73046875, 82.96875, -14.765625, 22.38667869567871 ]
2.566667
77
0
77
0
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[ -31.201171875, 28.4765625, 24.08203125, 82.705078125, -14.765625, 22.38667869567871 ]
2.6
78
0
78
0
[ -30.498046875, 33.22265625, 26.89453125, 82.44140625, -14.94140625, 13.64124584197998 ]
[ -31.201171875, 28.828125, 24.697265625, 82.529296875, -14.765625, 22.38667869567871 ]
2.633333
79
0
79
0
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[ -31.201171875, 29.1796875, 25.224609375, 82.529296875, -14.677734375, 22.38667869567871 ]
2.666667
80
0
80
0
[ -30.234375, 35.15625, 29.00390625, 82.44140625, -15.205078125, 13.426423072814941 ]
[ -31.201171875, 29.70703125, 26.015625, 82.529296875, -14.765625, 22.38667869567871 ]
2.7
81
0
81
0
[ -30.05859375, 36.2109375, 30.05859375, 82.353515625, -15.46875, 13.319012641906738 ]
[ -31.025390625, 30.322265625, 26.89453125, 82.44140625, -14.765625, 22.38667869567871 ]
2.733333
82
0
82
0
[ -29.8828125, 37.353515625, 31.201171875, 82.265625, -15.64453125, 13.319012641906738 ]
[ -30.9375, 30.9375, 27.94921875, 82.44140625, -14.765625, 22.38667869567871 ]
2.766667
83
0
83
0
[ -29.70703125, 38.583984375, 32.51953125, 81.9140625, -15.8203125, 13.319012641906738 ]
[ -30.76171875, 31.640625, 29.091796875, 82.44140625, -14.94140625, 22.38667869567871 ]
2.8
84
0
84
0
[ -29.53125, 39.90234375, 34.013671875, 81.474609375, -15.908203125, 13.319012641906738 ]
[ -30.5859375, 32.34375, 30.05859375, 82.44140625, -15.1171875, 22.38667869567871 ]
2.833333
85
0
85
0
[ -29.267578125, 41.30859375, 35.68359375, 80.947265625, -16.083984375, 13.319012641906738 ]
[ -30.41015625, 33.22265625, 31.46484375, 82.705078125, -15.1171875, 22.38667869567871 ]
2.866667
86
0
86
0
[ -29.00390625, 42.802734375, 37.529296875, 80.33203125, -16.435546875, 13.319012641906738 ]
[ -30.146484375, 34.189453125, 32.87109375, 82.6171875, -15.46875, 22.38667869567871 ]
2.9
87
0
87
0
[ -28.828125, 44.384765625, 39.287109375, 79.716796875, -16.611328125, 13.319012641906738 ]
[ -29.970703125, 35.244140625, 34.27734375, 81.826171875, -15.46875, 22.38667869567871 ]
2.933333
88
0
88
0
[ -28.564453125, 45.87890625, 41.220703125, 79.1015625, -16.875, 13.211600303649902 ]
[ -29.70703125, 36.5625, 35.947265625, 81.474609375, -15.64453125, 22.38667869567871 ]
2.966667
89
0
89
0
[ -28.30078125, 47.373046875, 42.978515625, 78.57421875, -17.138671875, 13.211600303649902 ]
[ -29.443359375, 37.96875, 37.6171875, 80.771484375, -15.99609375, 22.38667869567871 ]
3
90
0
90
0
[ -28.037109375, 49.04296875, 44.82421875, 78.046875, -17.40234375, 13.211600303649902 ]
[ -29.267578125, 39.375, 39.287109375, 80.244140625, -16.259765625, 22.38667869567871 ]
3.033333
91
0
91
0
[ -27.7734375, 50.625, 46.669921875, 77.51953125, -17.666015625, 13.211600303649902 ]
[ -29.00390625, 40.869140625, 41.044921875, 79.716796875, -16.5234375, 22.38667869567871 ]
3.066667
92
0
92
0
[ -27.421875, 52.20703125, 48.515625, 76.9921875, -17.9296875, 13.211600303649902 ]
[ -28.740234375, 42.36328125, 42.802734375, 79.1015625, -16.787109375, 22.38667869567871 ]
3.1
93
0
93
0
[ -26.982421875, 53.7890625, 50.361328125, 76.376953125, -18.28125, 13.211600303649902 ]
[ -28.4765625, 43.9453125, 44.736328125, 78.57421875, -17.05078125, 22.38667869567871 ]
3.133333
94
0
94
0
[ -26.54296875, 55.546875, 52.3828125, 75.673828125, -18.6328125, 13.211600303649902 ]
[ -28.125, 45.615234375, 46.58203125, 78.046875, -17.314453125, 22.38667869567871 ]
3.166667
95
0
95
0
[ -26.015625, 57.392578125, 54.66796875, 74.8828125, -18.984375, 13.211600303649902 ]
[ -27.7734375, 47.197265625, 48.33984375, 77.431640625, -17.666015625, 22.38667869567871 ]
3.2
96
0
96
0
[ -25.48828125, 59.23828125, 56.865234375, 74.091796875, -19.51171875, 13.211600303649902 ]
[ -27.421875, 48.8671875, 50.185546875, 76.81640625, -17.9296875, 22.38667869567871 ]
3.233333
97
0
97
0
[ -24.873046875, 60.99609375, 58.798828125, 73.388671875, -19.951171875, 13.319012641906738 ]
[ -26.982421875, 50.537109375, 52.20703125, 76.11328125, -18.28125, 22.38667869567871 ]
3.266667
98
0
98
0
[ -24.345703125, 62.666015625, 60.556640625, 72.94921875, -20.56640625, 13.319012641906738 ]
[ -26.455078125, 52.3828125, 54.31640625, 75.41015625, -18.720703125, 22.38667869567871 ]
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": 2,
    "total_frames": 1792,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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": [
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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": [
                480,
                640,
                3
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            "names": [
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                "video.codec": "av1",
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        "observation.images.phone": {
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            "shape": [
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                640,
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            "names": [
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                "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
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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                1
            ],
            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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