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Datasets:
MarshellWu
/
so100_test9

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
1
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action
sequence
observation.state
sequence
timestamp
float32
0
26.9
frame_index
int64
0
806
episode_index
int64
0
3
index
int64
0
2.81k
task_index
int64
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[ 82.529296875, 127.79296875, 127.529296875, 82.96875, 161.71875, 9.37752628326416 ]
2.466667
74
0
74
0
[ 82.353515625, 118.4765625, 119.443359375, 83.232421875, -199.16015625, 9.659541130065918 ]
[ 82.529296875, 125.33203125, 125.771484375, 82.96875, 161.54296875, 9.37752628326416 ]
2.5
75
0
75
0
[ 82.44140625, 117.333984375, 118.564453125, 83.232421875, -199.16015625, 9.659541130065918 ]
[ 82.529296875, 122.958984375, 124.1015625, 82.96875, 161.279296875, 9.37752628326416 ]
2.533333
76
0
76
0
[ 82.705078125, 116.54296875, 117.94921875, 83.232421875, -199.16015625, 9.659541130065918 ]
[ 82.529296875, 120.849609375, 122.783203125, 82.96875, 161.19140625, 9.37752628326416 ]
2.566667
77
0
77
0
[ 82.880859375, 115.400390625, 116.89453125, 83.232421875, -198.984375, 9.659541130065918 ]
[ 82.529296875, 119.1796875, 121.81640625, 82.96875, 161.19140625, 9.37752628326416 ]
2.6
78
0
78
0
[ 83.056640625, 113.818359375, 115.576171875, 83.232421875, -198.896484375, 9.659541130065918 ]
[ 82.529296875, 117.7734375, 120.76171875, 82.96875, 161.19140625, 9.37752628326416 ]
2.633333
79
0
79
0
[ 83.3203125, 112.67578125, 114.43359375, 83.232421875, -198.544921875, 9.659541130065918 ]
[ 82.529296875, 116.630859375, 119.8828125, 82.96875, 161.19140625, 9.37752628326416 ]
2.666667
80
0
80
0
[ 83.408203125, 111.708984375, 113.466796875, 83.232421875, -198.017578125, 9.659541130065918 ]
[ 82.529296875, 115.13671875, 118.564453125, 82.96875, 161.19140625, 9.37752628326416 ]
2.7
81
0
81
0
[ 83.408203125, 110.654296875, 112.412109375, 83.232421875, -197.75390625, 9.659541130065918 ]
[ 82.6171875, 113.73046875, 117.509765625, 82.96875, 161.19140625, 9.37752628326416 ]
2.733333
82
0
82
0
[ 83.408203125, 109.775390625, 111.4453125, 83.232421875, -197.40234375, 9.659541130065918 ]
[ 82.79296875, 112.587890625, 116.455078125, 82.96875, 161.54296875, 9.37752628326416 ]
2.766667
83
0
83
0
[ 83.408203125, 108.6328125, 110.56640625, 83.232421875, -197.05078125, 9.659541130065918 ]
[ 82.96875, 111.4453125, 115.3125, 82.96875, 161.71875, 9.37752628326416 ]
2.8
84
0
84
0
[ 83.408203125, 107.490234375, 109.775390625, 83.232421875, -196.875, 9.659541130065918 ]
[ 83.232421875, 110.478515625, 114.345703125, 82.96875, 162.158203125, 9.37752628326416 ]
2.833333
85
0
85
0
[ 83.408203125, 106.5234375, 109.51171875, 83.232421875, -196.5234375, 9.659541130065918 ]
[ 83.49609375, 109.423828125, 113.37890625, 82.96875, 162.421875, 9.37752628326416 ]
2.866667
86
0
86
0
[ 83.408203125, 106.171875, 109.423828125, 83.14453125, -196.34765625, 9.659541130065918 ]
[ 83.583984375, 108.28125, 112.5, 82.96875, 162.685546875, 9.37752628326416 ]
2.9
87
0
87
0
[ 83.408203125, 105.908203125, 109.072265625, 83.14453125, -196.34765625, 9.659541130065918 ]
[ 83.583984375, 107.2265625, 112.060546875, 82.96875, 163.037109375, 9.37752628326416 ]
2.933333
88
0
88
0
[ 83.49609375, 105.8203125, 108.45703125, 83.14453125, -196.34765625, 9.659541130065918 ]
[ 83.49609375, 106.5234375, 111.796875, 82.96875, 163.212890625, 9.37752628326416 ]
2.966667
89
0
89
0
[ 83.583984375, 105.732421875, 108.017578125, 83.14453125, -196.259765625, 9.659541130065918 ]
[ 83.49609375, 106.083984375, 111.4453125, 82.96875, 163.212890625, 9.37752628326416 ]
3
90
0
90
0
[ 83.759765625, 105.732421875, 107.578125, 83.14453125, -196.435546875, 9.659541130065918 ]
[ 83.49609375, 105.908203125, 110.91796875, 82.96875, 163.212890625, 9.37752628326416 ]
3.033333
91
0
91
0
[ 83.84765625, 105.732421875, 107.490234375, 83.14453125, -196.34765625, 9.659541130065918 ]
[ 83.49609375, 105.8203125, 110.390625, 82.96875, 163.388671875, 9.37752628326416 ]
3.066667
92
0
92
0
[ 84.111328125, 105.732421875, 107.2265625, 83.056640625, -195.908203125, 9.659541130065918 ]
[ 83.583984375, 105.8203125, 109.951171875, 82.96875, 163.388671875, 9.37752628326416 ]
3.1
93
0
93
0
[ 84.375, 105.732421875, 106.787109375, 82.96875, -195.8203125, 9.659541130065918 ]
[ 83.583984375, 105.8203125, 109.6875, 82.96875, 163.4765625, 9.37752628326416 ]
3.133333
94
0
94
0
[ 84.814453125, 105.732421875, 106.435546875, 82.880859375, -195.64453125, 9.659541130065918 ]
[ 83.583984375, 105.8203125, 109.423828125, 82.96875, 163.740234375, 9.37752628326416 ]
3.166667
95
0
95
0
[ 85.25390625, 105.732421875, 106.259765625, 82.79296875, -195.205078125, 9.659541130065918 ]
[ 83.583984375, 105.8203125, 108.984375, 82.96875, 163.916015625, 9.37752628326416 ]
3.2
96
0
96
0
[ 85.95703125, 105.64453125, 106.259765625, 82.705078125, -194.677734375, 9.659541130065918 ]
[ 84.111328125, 105.8203125, 108.6328125, 82.96875, 164.091796875, 9.37752628326416 ]
3.233333
97
0
97
0
[ 86.8359375, 105.029296875, 106.259765625, 82.353515625, -193.88671875, 9.659541130065918 ]
[ 84.638671875, 105.8203125, 108.45703125, 82.96875, 164.443359375, 9.37752628326416 ]
3.266667
98
0
98
0
[ 87.978515625, 104.501953125, 106.259765625, 82.265625, -192.83203125, 9.659541130065918 ]
[ 85.60546875, 105.556640625, 108.369140625, 82.96875, 164.8828125, 9.37752628326416 ]
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": 4,
    "total_frames": 2809,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:4"
    },
    "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": "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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