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Datasets:
Zak-Y
/
so100_grap_dataset

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
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Dask
License:
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action
sequence
observation.state
sequence
timestamp
float32
0
25.3
frame_index
int64
0
760
episode_index
int64
0
19
index
int64
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9.53k
task_index
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[ 23.466796875, 151.787109375, 115.83984375, 89.208984375, -23.203125, 37.295528411865234, -28.916015625, 138.1640625, 109.072265625, 97.3828125, -12.83203125, 24.865446090698242 ]
[ 21.357421875, 148.88671875, 114.2578125, 89.736328125, -23.642578125, 36.35555648803711, -28.037109375, 139.833984375, 111.181640625, 96.767578125, -11.689453125, 16.95059585571289 ]
2.733333
82
0
82
0
[ 23.642578125, 152.75390625, 116.806640625, 88.76953125, -22.939453125, 37.295528411865234, -28.916015625, 137.28515625, 108.896484375, 97.3828125, -12.83203125, 27.879440307617188 ]
[ 21.97265625, 149.23828125, 114.609375, 89.560546875, -23.291015625, 36.53333282470703, -28.125, 138.8671875, 111.181640625, 96.767578125, -11.689453125, 19.33560562133789 ]
2.766667
83
0
83
0
[ 23.73046875, 153.193359375, 117.421875, 88.681640625, -22.67578125, 37.73173522949219, -28.916015625, 136.669921875, 108.80859375, 97.3828125, -12.83203125, 29.709365844726562 ]
[ 22.412109375, 150.029296875, 115.224609375, 89.384765625, -23.02734375, 36.622222900390625, -28.212890625, 138.33984375, 111.181640625, 96.767578125, -11.689453125, 21.465076446533203 ]
2.8
84
0
84
0
[ 23.5546875, 153.369140625, 117.685546875, 88.76953125, -23.02734375, 38.71319580078125, -29.00390625, 135.966796875, 108.80859375, 97.3828125, -12.83203125, 30.570505142211914 ]
[ 22.939453125, 150.908203125, 115.927734375, 88.9453125, -22.587890625, 36.622222900390625, -28.212890625, 137.548828125, 110.654296875, 96.767578125, -11.689453125, 23.85008430480957 ]
2.833333
85
0
85
0
[ 23.37890625, 153.193359375, 117.685546875, 89.208984375, -23.642578125, 40.130863189697266, -29.00390625, 135.263671875, 108.720703125, 97.3828125, -12.83203125, 31.64693260192871 ]
[ 22.8515625, 151.611328125, 116.806640625, 88.76953125, -22.412109375, 36.71111297607422, -28.125, 136.669921875, 110.302734375, 96.767578125, -11.689453125, 26.14991569519043 ]
2.866667
86
0
86
0
[ 23.203125, 153.017578125, 117.685546875, 89.736328125, -24.08203125, 42.09378433227539, -29.00390625, 134.47265625, 108.720703125, 97.3828125, -12.83203125, 32.292789459228516 ]
[ 22.763671875, 152.05078125, 116.89453125, 88.681640625, -22.67578125, 37.42222213745117, -28.125, 135.791015625, 110.21484375, 96.767578125, -11.689453125, 27.683134078979492 ]
2.9
87
0
87
0
[ 23.02734375, 152.578125, 117.685546875, 90, -24.697265625, 42.85714340209961, -29.00390625, 133.681640625, 108.6328125, 97.3828125, -12.83203125, 32.400428771972656 ]
[ 22.412109375, 152.2265625, 116.89453125, 88.857421875, -22.763671875, 38.75555419921875, -28.4765625, 135.263671875, 110.21484375, 96.767578125, -11.689453125, 29.045995712280273 ]
2.933333
88
0
88
0
[ 22.939453125, 151.875, 117.7734375, 90.263671875, -25.048828125, 43.184295654296875, -29.1796875, 132.802734375, 108.544921875, 97.3828125, -12.83203125, 32.50807189941406 ]
[ 22.587890625, 152.314453125, 116.982421875, 88.9453125, -23.291015625, 40.44444274902344, -28.916015625, 134.47265625, 110.126953125, 96.767578125, -11.689453125, 30.153322219848633 ]
2.966667
89
0
89
0
[ 22.939453125, 150.99609375, 117.7734375, 90.615234375, -25.13671875, 43.402400970458984, -29.53125, 132.01171875, 108.45703125, 97.3828125, -12.83203125, 32.83100128173828 ]
[ 22.763671875, 152.05078125, 117.0703125, 89.47265625, -23.5546875, 41.06666564941406, -29.1796875, 133.681640625, 110.126953125, 96.767578125, -11.689453125, 30.749574661254883 ]
3
90
0
90
0
[ 23.02734375, 149.94140625, 117.7734375, 90.703125, -25.224609375, 43.62050247192383, -29.8828125, 131.044921875, 108.193359375, 97.3828125, -12.83203125, 33.1539306640625 ]
[ 22.8515625, 151.5234375, 117.0703125, 89.560546875, -24.169921875, 41.77777862548828, -29.1796875, 132.71484375, 110.126953125, 96.767578125, -11.689453125, 31.090290069580078 ]
3.033333
91
0
91
0
[ 23.203125, 148.974609375, 117.7734375, 90.791015625, -25.3125, 44.60196304321289, -30.234375, 130.166015625, 107.841796875, 97.3828125, -12.65625, 33.692142486572266 ]
[ 22.32421875, 150.64453125, 117.0703125, 89.6484375, -24.43359375, 42.13333511352539, -29.091796875, 132.1875, 110.126953125, 96.767578125, -11.689453125, 31.431005477905273 ]
3.066667
92
0
92
0
[ 23.73046875, 148.0078125, 117.7734375, 90.791015625, -26.455078125, 47.87350082397461, -30.498046875, 129.111328125, 107.314453125, 97.3828125, -12.568359375, 34.015071868896484 ]
[ 22.236328125, 149.765625, 117.0703125, 89.6484375, -24.521484375, 42.488887786865234, -28.828125, 131.484375, 110.0390625, 96.767578125, -11.689453125, 32.11243438720703 ]
3.1
93
0
93
0
[ 24.2578125, 147.3046875, 117.7734375, 90.439453125, -27.333984375, 50.708831787109375, -30.76171875, 128.056640625, 106.435546875, 97.3828125, -12.392578125, 34.445640563964844 ]
[ 22.587890625, 148.974609375, 117.0703125, 89.736328125, -24.609375, 43.28888702392578, -29.091796875, 130.517578125, 109.423828125, 96.767578125, -11.689453125, 32.45315170288086 ]
3.133333
94
0
94
0
[ 25.224609375, 146.77734375, 117.7734375, 90.263671875, -27.685546875, 53.87131881713867, -30.849609375, 127.001953125, 105.732421875, 97.294921875, -12.12890625, 34.660926818847656 ]
[ 23.115234375, 148.447265625, 117.158203125, 89.82421875, -25.3125, 44.71111297607422, -29.443359375, 129.55078125, 109.248046875, 96.50390625, -11.689453125, 33.04940414428711 ]
3.166667
95
0
95
0
[ 26.279296875, 146.513671875, 117.7734375, 89.47265625, -28.4765625, 56.052345275878906, -31.11328125, 125.859375, 104.94140625, 97.119140625, -11.77734375, 34.98385238647461 ]
[ 23.5546875, 147.65625, 117.158203125, 89.82421875, -26.015625, 47.20000076293945, -30.234375, 128.49609375, 108.6328125, 96.85546875, -11.689453125, 33.39011764526367 ]
3.2
96
0
96
0
[ 27.509765625, 146.25, 117.7734375, 88.41796875, -29.267578125, 57.14285659790039, -31.46484375, 124.716796875, 104.4140625, 96.767578125, -11.6015625, 35.30678176879883 ]
[ 23.73046875, 146.865234375, 117.158203125, 89.82421875, -26.3671875, 49.86666488647461, -30.322265625, 127.529296875, 107.578125, 96.50390625, -11.689453125, 33.56047821044922 ]
3.233333
97
0
97
0
[ 28.740234375, 145.72265625, 117.7734375, 87.36328125, -29.794921875, 57.79716491699219, -31.904296875, 123.3984375, 104.0625, 96.328125, -11.42578125, 36.27556610107422 ]
[ 24.873046875, 146.513671875, 117.158203125, 89.384765625, -27.158203125, 52.53333282470703, -30.41015625, 126.123046875, 106.69921875, 96.767578125, -11.337890625, 33.7308349609375 ]
3.266667
98
0
98
0
[ 29.8828125, 144.84375, 117.685546875, 86.396484375, -30.322265625, 58.12431716918945, -32.34375, 122.080078125, 103.798828125, 95.888671875, -11.07421875, 37.1367073059082 ]
[ 26.103515625, 146.162109375, 117.158203125, 88.681640625, -27.94921875, 54.31111145019531, -30.322265625, 124.892578125, 106.435546875, 96.240234375, -11.25, 34.49744415283203 ]
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": 20,
    "total_frames": 5810,
    "total_tasks": 1,
    "total_videos": 40,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:20"
    },
    "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.Left_follower": {
            "dtype": "video",
            "shape": [
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            "names": [
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            "info": {
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        "observation.images.Right_follower": {
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            "names": [
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            "info": {
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                "video.codec": "av1",
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        },
        "timestamp": {
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            "shape": [
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            "names": null
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        "frame_index": {
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            "names": null
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        "episode_index": {
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        "index": {
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        "task_index": {
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        }
    }
}

Citation

BibTeX:

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License:
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