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Jiafei1224
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so100_cubestack2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
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parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
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Dask
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action
sequence
observation.state
sequence
timestamp
float32
0
14.9
frame_index
int64
0
447
episode_index
int64
0
29
index
int64
0
13.4k
task_index
int64
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0
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[ -2.900390625, 87.01171875, 92.109375, 83.935546875, 18.10546875, 47.232948303222656 ]
[ -2.8125, 87.275390625, 95.009765625, 84.375, 17.666015625, 46.66666793823242 ]
2.466667
74
0
74
0
[ -2.900390625, 86.572265625, 91.669921875, 84.0234375, 18.10546875, 47.232948303222656 ]
[ -2.8125, 87.099609375, 94.833984375, 84.287109375, 17.666015625, 46.66666793823242 ]
2.5
75
0
75
0
[ -2.900390625, 86.044921875, 91.142578125, 84.111328125, 18.10546875, 47.232948303222656 ]
[ -2.8125, 86.748046875, 94.39453125, 84.287109375, 17.666015625, 46.66666793823242 ]
2.533333
76
0
76
0
[ -2.900390625, 85.517578125, 90.52734375, 84.111328125, 18.10546875, 47.232948303222656 ]
[ -2.98828125, 86.30859375, 93.955078125, 84.287109375, 17.666015625, 46.66666793823242 ]
2.566667
77
0
77
0
[ -2.98828125, 84.990234375, 90, 84.19921875, 18.10546875, 47.232948303222656 ]
[ -3.1640625, 85.869140625, 93.427734375, 84.287109375, 17.666015625, 46.66666793823242 ]
2.6
78
0
78
0
[ -3.1640625, 84.462890625, 89.47265625, 84.287109375, 18.10546875, 47.232948303222656 ]
[ -3.251953125, 85.341796875, 92.900390625, 84.287109375, 17.666015625, 46.66666793823242 ]
2.633333
79
0
79
0
[ -3.1640625, 83.935546875, 89.033203125, 84.287109375, 18.10546875, 47.232948303222656 ]
[ -3.251953125, 84.814453125, 92.28515625, 84.287109375, 17.841796875, 46.66666793823242 ]
2.666667
80
0
80
0
[ -3.1640625, 83.583984375, 88.857421875, 84.287109375, 18.10546875, 47.232948303222656 ]
[ -3.251953125, 84.287109375, 91.845703125, 84.287109375, 17.841796875, 46.66666793823242 ]
2.7
81
0
81
0
[ -3.1640625, 83.232421875, 88.76953125, 84.287109375, 18.10546875, 47.232948303222656 ]
[ -3.251953125, 83.671875, 91.318359375, 84.287109375, 17.841796875, 46.66666793823242 ]
2.733333
82
0
82
0
[ -3.076171875, 82.880859375, 88.681640625, 84.19921875, 18.10546875, 47.232948303222656 ]
[ -3.251953125, 83.408203125, 91.0546875, 84.287109375, 17.841796875, 46.66666793823242 ]
2.766667
83
0
83
0
[ -2.98828125, 82.6171875, 88.681640625, 84.19921875, 18.10546875, 47.232948303222656 ]
[ -3.251953125, 82.96875, 90.87890625, 84.287109375, 17.841796875, 46.66666793823242 ]
2.8
84
0
84
0
[ -2.900390625, 82.44140625, 88.681640625, 84.111328125, 18.10546875, 47.232948303222656 ]
[ -3.1640625, 82.6171875, 90.791015625, 84.287109375, 17.841796875, 46.66666793823242 ]
2.833333
85
0
85
0
[ -2.900390625, 82.353515625, 88.681640625, 84.111328125, 18.10546875, 47.232948303222656 ]
[ -3.1640625, 82.44140625, 90.791015625, 84.287109375, 17.841796875, 46.66666793823242 ]
2.866667
86
0
86
0
[ -2.8125, 82.177734375, 88.681640625, 84.111328125, 18.10546875, 47.232948303222656 ]
[ -3.1640625, 82.177734375, 90.791015625, 84.287109375, 17.841796875, 46.66666793823242 ]
2.9
87
0
87
0
[ -2.724609375, 82.001953125, 88.681640625, 84.0234375, 18.10546875, 47.232948303222656 ]
[ -3.1640625, 82.08984375, 90.791015625, 84.287109375, 17.841796875, 46.66666793823242 ]
2.933333
88
0
88
0
[ -2.63671875, 81.826171875, 88.681640625, 84.0234375, 18.10546875, 47.232948303222656 ]
[ -3.1640625, 81.9140625, 90.791015625, 84.287109375, 17.841796875, 46.66666793823242 ]
2.966667
89
0
89
0
[ -2.548828125, 81.5625, 88.681640625, 84.0234375, 18.10546875, 47.232948303222656 ]
[ -3.1640625, 81.73828125, 90.791015625, 84.287109375, 17.841796875, 46.66666793823242 ]
3
90
0
90
0
[ -2.548828125, 81.474609375, 88.681640625, 83.935546875, 18.10546875, 47.232948303222656 ]
[ -3.1640625, 81.474609375, 90.791015625, 84.287109375, 17.841796875, 46.66666793823242 ]
3.033333
91
0
91
0
[ -2.548828125, 81.298828125, 88.681640625, 83.84765625, 18.10546875, 47.232948303222656 ]
[ -3.1640625, 81.298828125, 90.791015625, 84.287109375, 17.841796875, 46.66666793823242 ]
3.066667
92
0
92
0
[ -2.4609375, 81.2109375, 88.681640625, 83.84765625, 18.10546875, 47.232948303222656 ]
[ -2.98828125, 81.2109375, 90.791015625, 84.287109375, 17.841796875, 46.66666793823242 ]
3.1
93
0
93
0
[ -2.4609375, 81.123046875, 88.681640625, 83.759765625, 18.10546875, 47.232948303222656 ]
[ -2.724609375, 81.03515625, 90.791015625, 84.287109375, 17.841796875, 46.66666793823242 ]
3.133333
94
0
94
0
[ -2.4609375, 81.03515625, 88.681640625, 83.671875, 18.10546875, 47.232948303222656 ]
[ -2.548828125, 80.947265625, 90.791015625, 84.287109375, 17.841796875, 46.66666793823242 ]
3.166667
95
0
95
0
[ -2.373046875, 81.03515625, 88.681640625, 83.583984375, 18.10546875, 47.232948303222656 ]
[ -2.4609375, 80.859375, 90.791015625, 84.287109375, 17.841796875, 46.66666793823242 ]
3.2
96
0
96
0
[ -2.28515625, 80.947265625, 88.681640625, 83.583984375, 18.10546875, 47.232948303222656 ]
[ -2.373046875, 80.859375, 90.791015625, 84.111328125, 17.841796875, 46.66666793823242 ]
3.233333
97
0
97
0
[ -2.109375, 80.859375, 88.681640625, 83.583984375, 18.10546875, 47.232948303222656 ]
[ -2.373046875, 80.859375, 90.791015625, 83.935546875, 17.841796875, 46.66666793823242 ]
3.266667
98
0
98
0
[ -2.021484375, 80.859375, 88.681640625, 83.583984375, 18.10546875, 47.232948303222656 ]
[ -2.373046875, 80.68359375, 90.791015625, 83.935546875, 17.841796875, 46.66666793823242 ]
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": 30,
    "total_frames": 13434,
    "total_tasks": 1,
    "total_videos": 60,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:30"
    },
    "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.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": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.phone": {
            "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": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Size of downloaded dataset files:
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Number of rows:
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