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Datasets:
apayan
/
eval_so100_last3

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
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
[ 1.4405169486999512, 187.48641967773438, 178.42715454101562, 47.595523834228516, -2.0312576293945312, 0.1290140151977539 ]
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2.8
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2.85
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2.9
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2.95
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3
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3.05
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3.1
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3.15
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3.2
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64
0
[ 10.18197250366211, 168.3829345703125, 168.61691284179688, 11.293031692504883, -91.05707550048828, 25.746292114257812 ]
[ 10.107421875, 169.98046875, 170.947265625, 12.83203125, -90.52734375, 25.53782081604004 ]
3.25
65
0
65
0
[ 9.950377464294434, 167.91943359375, 168.45205688476562, 11.091635704040527, -91.09473419189453, 25.769054412841797 ]
[ 9.84375, 169.189453125, 170.771484375, 12.392578125, -90.52734375, 25.53782081604004 ]
3.3
66
0
66
0
[ 10.188024520874023, 166.77020263671875, 168.2832489013672, 10.377433776855469, -91.12132263183594, 25.794387817382812 ]
[ 9.66796875, 168.75, 170.771484375, 12.12890625, -90.52734375, 25.67661476135254 ]
3.35
67
0
67
0
[ 10.210799217224121, 166.2327117919922, 168.217529296875, 10.217061996459961, -91.09769439697266, 25.798751831054688 ]
[ 10.107421875, 168.22265625, 170.68359375, 11.77734375, -90.52734375, 25.607215881347656 ]
3.4
68
0
68
0
[ 10.454715728759766, 165.79774475097656, 168.11891174316406, 9.959162712097168, -91.09982299804688, 25.797771453857422 ]
[ 10.1953125, 167.255859375, 170.595703125, 11.25, -90.52734375, 25.607215881347656 ]
3.45
69
0
69
0
[ 10.412164688110352, 165.05111694335938, 167.9672393798828, 9.62759017944336, -91.10791778564453, 25.798269271850586 ]
[ 9.84375, 166.552734375, 170.595703125, 10.986328125, -90.52734375, 25.607215881347656 ]
3.5
70
0
70
0
[ 10.433359146118164, 164.4182586669922, 167.82733154296875, 9.374242782592773, -91.1082763671875, 25.822750091552734 ]
[ 10.01953125, 166.11328125, 170.419921875, 10.72265625, -90.703125, 25.607215881347656 ]
3.55
71
0
71
0
[ 10.303689956665039, 162.70230102539062, 167.29452514648438, 8.593672752380371, -91.17306518554688, 25.867237091064453 ]
[ 10.283203125, 165.322265625, 170.15625, 10.546875, -90.703125, 25.607215881347656 ]
3.6
72
0
72
0
[ 10.581092834472656, 161.81838989257812, 167.07630920410156, 8.332052230834961, -91.19684600830078, 25.872154235839844 ]
[ 10.107421875, 164.619140625, 169.892578125, 10.283203125, -90.791015625, 25.607215881347656 ]
3.65
73
0
73
0
[ 10.655646324157715, 161.44290161132812, 167.02316284179688, 8.120452880859375, -91.18006134033203, 25.871295928955078 ]
[ 10.107421875, 163.388671875, 169.453125, 9.580078125, -90.791015625, 25.607215881347656 ]
3.7
74
0
74
0
[ 10.459535598754883, 159.882080078125, 166.55270385742188, 7.491022109985352, -91.2110595703125, 25.86259651184082 ]
[ 10.458984375, 162.333984375, 169.27734375, 9.228515625, -90.791015625, 25.607215881347656 ]
3.75
75
0
75
0
[ 10.623339653015137, 158.53274536132812, 166.08554077148438, 7.061016082763672, -91.27265930175781, 25.906888961791992 ]
[ 10.458984375, 161.71875, 169.189453125, 8.876953125, -90.791015625, 25.607215881347656 ]
3.8
76
0
76
0
[ 10.861064910888672, 158.79884338378906, 166.1513214111328, 7.133934020996094, -91.28695678710938, 25.898025512695312 ]
[ 10.37109375, 160.48828125, 168.75, 8.349609375, -90.791015625, 25.607215881347656 ]
3.85
77
0
77
0
[ 10.78917121887207, 157.1636962890625, 165.6790008544922, 6.640649795532227, -91.30521392822266, 25.90333366394043 ]
[ 10.546875, 159.345703125, 168.486328125, 7.998046875, -90.791015625, 25.607215881347656 ]
3.9
78
0
78
0
[ 10.805200576782227, 156.12973022460938, 165.24359130859375, 6.246472358703613, -91.33776092529297, 25.90434455871582 ]
[ 10.546875, 159.345703125, 168.22265625, 7.998046875, -90.791015625, 25.607215881347656 ]
3.95
79
0
79
0
[ 10.82314682006836, 154.75820922851562, 164.81939697265625, 5.849175453186035, -91.35769653320312, 25.928592681884766 ]
[ 10.458984375, 157.939453125, 167.607421875, 7.470703125, -90.87890625, 25.607215881347656 ]
4
80
0
80
0
[ 11.002866744995117, 153.48931884765625, 164.22142028808594, 5.463191032409668, -91.41891479492188, 25.966001510620117 ]
[ 10.458984375, 156.796875, 167.431640625, 7.119140625, -90.87890625, 25.607215881347656 ]
4.05
81
0
81
0
[ 11.140984535217285, 152.0626678466797, 163.65628051757812, 4.9875946044921875, -91.44622802734375, 25.970788955688477 ]
[ 10.458984375, 155.390625, 166.81640625, 6.6796875, -90.87890625, 25.607215881347656 ]
4.1
82
0
82
0
[ 11.282422065734863, 150.73699951171875, 163.11944580078125, 4.815634727478027, -91.53001403808594, 25.982864379882812 ]
[ 10.810546875, 154.072265625, 166.2890625, 6.328125, -90.87890625, 25.607215881347656 ]
4.15
83
0
83
0
[ 11.513311386108398, 149.83908081054688, 162.76914978027344, 4.555503845214844, -91.48290252685547, 26.000160217285156 ]
[ 10.8984375, 152.75390625, 165.673828125, 5.9765625, -90.87890625, 25.607215881347656 ]
4.2
84
0
84
0
[ 11.445720672607422, 147.72511291503906, 161.7834014892578, 4.048061370849609, -91.58316040039062, 26.005420684814453 ]
[ 10.986328125, 151.435546875, 165.234375, 5.625, -90.87890625, 25.607215881347656 ]
4.25
85
0
85
0
[ 11.2174072265625, 146.19589233398438, 160.93179321289062, 3.682248115539551, -91.58192443847656, 26.029006958007812 ]
[ 11.162109375, 150.29296875, 164.70703125, 5.361328125, -90.87890625, 25.607215881347656 ]
4.3
86
0
86
0
[ 11.670618057250977, 144.901611328125, 160.35287475585938, 3.4916019439697266, -91.632568359375, 26.06262969970703 ]
[ 11.25, 148.7109375, 163.828125, 4.921875, -91.142578125, 25.607215881347656 ]
4.35
87
0
87
0
[ 11.621536254882812, 143.21987915039062, 159.55889892578125, 3.175469398498535, -91.67552185058594, 26.082027435302734 ]
[ 11.162109375, 146.865234375, 163.125, 4.5703125, -91.23046875, 25.607215881347656 ]
4.4
88
0
88
0
[ 11.524957656860352, 141.72459411621094, 158.82565307617188, 2.919650077819824, -91.69058990478516, 26.087377548217773 ]
[ 11.77734375, 145.546875, 162.509765625, 4.39453125, -91.23046875, 25.67661476135254 ]
4.45
89
0
89
0
[ 11.826593399047852, 139.2104034423828, 157.48277282714844, 2.5294933319091797, -91.7303695678711, 26.130783081054688 ]
[ 11.865234375, 143.876953125, 161.71875, 3.955078125, -91.23046875, 25.815406799316406 ]
4.5
90
0
90
0
[ 11.840076446533203, 138.26614379882812, 157.09429931640625, 2.265687942504883, -91.75772094726562, 26.130294799804688 ]
[ 11.513671875, 142.3828125, 160.751953125, 3.69140625, -91.23046875, 25.954198837280273 ]
4.55
91
0
91
0
[ 11.716912269592285, 137.55715942382812, 156.57733154296875, 2.169095039367676, -91.7828598022461, 26.153297424316406 ]
[ 11.42578125, 140.537109375, 159.873046875, 3.33984375, -91.23046875, 25.954198837280273 ]
4.6
92
0
92
0
[ 11.732941627502441, 135.386474609375, 155.44802856445312, 1.939676284790039, -91.82151794433594, 26.176055908203125 ]
[ 11.6015625, 138.8671875, 159.345703125, 3.076171875, -91.23046875, 25.954198837280273 ]
4.65
93
0
93
0
[ 11.963210105895996, 134.5657958984375, 154.8492889404297, 1.8207521438598633, -91.87899780273438, 26.192522048950195 ]
[ 11.6015625, 137.900390625, 158.642578125, 2.98828125, -91.23046875, 25.954198837280273 ]
4.7
94
0
94
0
[ 11.784907341003418, 132.61697387695312, 153.7523651123047, 1.531733512878418, -91.90045928955078, 26.194747924804688 ]
[ 11.42578125, 136.142578125, 157.587890625, 2.900390625, -91.40625, 25.954198837280273 ]
4.75
95
0
95
0
[ 11.633344650268555, 132.07684326171875, 153.31295776367188, 1.557891845703125, -91.9173583984375, 26.190235137939453 ]
[ 11.865234375, 134.82421875, 156.97265625, 2.724609375, -91.40625, 25.954198837280273 ]
4.8
96
0
96
0
[ 11.393889427185059, 130.3849639892578, 152.25991821289062, 1.4050331115722656, -91.9438247680664, 26.218124389648438 ]
[ 12.12890625, 133.41796875, 155.91796875, 2.373046875, -91.58203125, 25.954198837280273 ]
4.85
97
0
97
0
[ 11.444430351257324, 129.85076904296875, 151.97994995117188, 1.3455276489257812, -91.94831085205078, 26.206666946411133 ]
[ 11.689453125, 132.275390625, 155.302734375, 2.28515625, -91.58203125, 25.954198837280273 ]
4.9
98
0
98
0
[ 11.346905708312988, 128.98780822753906, 151.42323303222656, 1.2229738235473633, -91.93455505371094, 26.21795082092285 ]
[ 11.25, 130.95703125, 154.423828125, 2.28515625, -91.58203125, 25.954198837280273 ]
4.95
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": 14713,
    "total_tasks": 1,
    "total_videos": 6,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 20,
    "splits": {
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    "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": {
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
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            "names": [
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                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
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        "observation.images.top": {
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        "timestamp": {
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        }
    }
}

Citation

BibTeX:

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