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Datasets:
MarshellWu
/
so100_test7

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
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action
sequence
observation.state
sequence
timestamp
float32
0
29.8
frame_index
int64
0
894
episode_index
int64
0
1
index
int64
0
1.79k
task_index
int64
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[ 72.685546875, 136.0546875, 111.533203125, 96.50390625, 164.00390625, 26.192401885986328 ]
2.4
72
0
72
0
[ 72.861328125, 122.431640625, 86.66015625, 108.720703125, -196.787109375, 26.049089431762695 ]
[ 72.685546875, 132.626953125, 105.99609375, 100.01953125, 164.00390625, 26.192401885986328 ]
2.433333
73
0
73
0
[ 72.94921875, 120.498046875, 84.462890625, 109.248046875, -197.05078125, 26.049089431762695 ]
[ 72.685546875, 129.287109375, 100.8984375, 102.919921875, 163.740234375, 26.192401885986328 ]
2.466667
74
0
74
0
[ 72.94921875, 118.564453125, 82.705078125, 109.599609375, -197.05078125, 26.049089431762695 ]
[ 72.685546875, 126.474609375, 96.15234375, 105.29296875, 163.65234375, 26.192401885986328 ]
2.5
75
0
75
0
[ 72.94921875, 116.71875, 81.298828125, 109.775390625, -197.138671875, 26.049089431762695 ]
[ 72.685546875, 123.75, 92.109375, 106.611328125, 163.30078125, 26.192401885986328 ]
2.533333
76
0
76
0
[ 72.94921875, 114.9609375, 80.419921875, 109.775390625, -197.138671875, 26.049089431762695 ]
[ 72.685546875, 121.46484375, 88.857421875, 107.75390625, 163.30078125, 26.192401885986328 ]
2.566667
77
0
77
0
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[ 72.685546875, 119.35546875, 86.396484375, 108.369140625, 163.30078125, 26.192401885986328 ]
2.6
78
0
78
0
[ 72.94921875, 111.09375, 79.716796875, 109.775390625, -196.69921875, 26.049089431762695 ]
[ 72.685546875, 117.333984375, 84.638671875, 108.80859375, 163.30078125, 26.192401885986328 ]
2.633333
79
0
79
0
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[ 72.685546875, 115.224609375, 83.408203125, 109.16015625, 163.30078125, 26.192401885986328 ]
2.666667
80
0
80
0
[ 72.94921875, 107.314453125, 80.595703125, 109.775390625, -195.732421875, 26.049089431762695 ]
[ 72.685546875, 113.203125, 82.705078125, 109.3359375, 163.30078125, 26.192401885986328 ]
2.7
81
0
81
0
[ 73.037109375, 106.435546875, 82.177734375, 109.775390625, -195.205078125, 26.049089431762695 ]
[ 72.685546875, 111.181640625, 82.353515625, 109.423828125, 163.30078125, 26.192401885986328 ]
2.733333
82
0
82
0
[ 73.30078125, 106.171875, 84.0234375, 109.6875, -195.029296875, 26.049089431762695 ]
[ 72.685546875, 109.248046875, 82.353515625, 109.51171875, 163.740234375, 26.192401885986328 ]
2.766667
83
0
83
0
[ 73.65234375, 106.171875, 86.044921875, 109.599609375, -194.94140625, 26.049089431762695 ]
[ 72.685546875, 107.666015625, 82.705078125, 109.423828125, 164.1796875, 26.111560821533203 ]
2.8
84
0
84
0
[ 73.740234375, 105.908203125, 87.099609375, 109.3359375, -195.205078125, 26.049089431762695 ]
[ 72.7734375, 106.875, 83.84765625, 109.423828125, 164.443359375, 25.869037628173828 ]
2.833333
85
0
85
0
[ 73.740234375, 105.29296875, 87.71484375, 109.248046875, -195.8203125, 26.049089431762695 ]
[ 72.861328125, 106.435546875, 85.25390625, 109.423828125, 164.53125, 25.788196563720703 ]
2.866667
86
0
86
0
[ 73.740234375, 104.58984375, 88.154296875, 109.16015625, -196.611328125, 26.049089431762695 ]
[ 73.212890625, 105.99609375, 86.396484375, 109.423828125, 164.53125, 25.788196563720703 ]
2.9
87
0
87
0
[ 73.740234375, 103.974609375, 88.2421875, 108.984375, -196.34765625, 26.049089431762695 ]
[ 73.388671875, 105.380859375, 87.1875, 109.423828125, 164.53125, 25.788196563720703 ]
2.933333
88
0
88
0
[ 73.65234375, 103.359375, 88.2421875, 108.80859375, -196.34765625, 26.049089431762695 ]
[ 73.740234375, 104.677734375, 87.802734375, 109.423828125, 164.091796875, 25.788196563720703 ]
2.966667
89
0
89
0
[ 73.65234375, 102.744140625, 88.154296875, 108.6328125, -196.171875, 26.049089431762695 ]
[ 73.828125, 104.0625, 87.978515625, 109.423828125, 164.00390625, 25.788196563720703 ]
3
90
0
90
0
[ 73.65234375, 102.041015625, 88.154296875, 108.193359375, -195.99609375, 26.049089431762695 ]
[ 73.828125, 103.359375, 87.978515625, 109.3359375, 164.00390625, 25.788196563720703 ]
3.033333
91
0
91
0
[ 73.65234375, 101.25, 88.06640625, 107.75390625, -196.69921875, 26.049089431762695 ]
[ 73.740234375, 102.83203125, 88.06640625, 109.072265625, 164.00390625, 25.788196563720703 ]
3.066667
92
0
92
0
[ 73.65234375, 100.283203125, 87.978515625, 107.2265625, -197.490234375, 26.049089431762695 ]
[ 73.65234375, 102.12890625, 88.154296875, 108.720703125, 164.00390625, 25.788196563720703 ]
3.1
93
0
93
0
[ 73.65234375, 99.404296875, 87.890625, 106.259765625, -197.666015625, 26.049089431762695 ]
[ 73.65234375, 101.42578125, 88.154296875, 108.369140625, 163.828125, 25.788196563720703 ]
3.133333
94
0
94
0
[ 73.740234375, 98.349609375, 87.890625, 105.46875, -197.490234375, 26.049089431762695 ]
[ 73.740234375, 100.546875, 88.154296875, 107.841796875, 163.212890625, 25.788196563720703 ]
3.166667
95
0
95
0
[ 73.740234375, 97.20703125, 87.978515625, 104.150390625, -197.138671875, 26.049089431762695 ]
[ 73.828125, 99.66796875, 88.154296875, 107.138671875, 162.94921875, 25.70735740661621 ]
3.2
96
0
96
0
[ 73.65234375, 95.9765625, 87.978515625, 101.953125, -196.875, 26.049089431762695 ]
[ 73.828125, 98.7890625, 88.154296875, 106.435546875, 162.94921875, 25.70735740661621 ]
3.233333
97
0
97
0
[ 73.125, 94.5703125, 87.890625, 99.580078125, -197.40234375, 26.049089431762695 ]
[ 73.828125, 97.734375, 88.154296875, 105.380859375, 162.94921875, 25.70735740661621 ]
3.266667
98
0
98
0
[ 72.7734375, 93.33984375, 87.890625, 97.646484375, -197.490234375, 26.049089431762695 ]
[ 73.828125, 96.50390625, 88.154296875, 103.798828125, 162.94921875, 25.70735740661621 ]
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": 1790,
    "total_tasks": 1,
    "total_videos": 2,
    "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
            ],
            "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
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            "names": null
        },
        "episode_index": {
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            "shape": [
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            "names": null
        },
        "index": {
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            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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