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Datasets:
apayan
/
so100_last3

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
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action
sequence
observation.state
sequence
timestamp
float32
0
43
frame_index
int64
0
859
episode_index
int64
0
69
index
int64
0
48.6k
task_index
int64
0
0
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11
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0.6
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0.65
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13
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0.7
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14
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0.75
15
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15
0
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0.8
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16
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0.85
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17
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0.9
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0.95
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19
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1
20
0
20
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1.05
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21
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1.1
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22
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1.15
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1.2
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0
24
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1.25
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25
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1.3
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0
26
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1.35
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27
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1.4
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1.45
29
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29
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1.5
30
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30
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1.55
31
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31
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1.6
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32
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1.65
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33
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1.7
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34
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1.75
35
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35
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1.8
36
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36
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1.85
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37
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1.9
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1.95
39
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39
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2
40
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2.05
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41
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2.1
42
0
42
0
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2.15
43
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43
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2.2
44
0
44
0
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[ 2.900390625, 185.2734375, 177.978515625, 45.615234375, -9.31640625, 0.4857737421989441 ]
2.25
45
0
45
0
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[ 3.1640625, 185.2734375, 177.978515625, 45.615234375, -9.31640625, 0.4857737421989441 ]
2.3
46
0
46
0
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2.35
47
0
47
0
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2.4
48
0
48
0
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2.45
49
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49
0
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2.5
50
0
50
0
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[ 3.779296875, 185.2734375, 177.978515625, 45, -9.140625, 0.4857737421989441 ]
2.55
51
0
51
0
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[ 3.779296875, 185.2734375, 177.978515625, 44.208984375, -9.140625, 0.4857737421989441 ]
2.6
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52
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2.65
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0
53
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[ 4.5703125, 185.2734375, 177.978515625, 42.1875, -9.228515625, 0.4857737421989441 ]
2.7
54
0
54
0
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2.75
55
0
55
0
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[ 5.537109375, 185.2734375, 177.978515625, 39.638671875, -9.228515625, 0.4857737421989441 ]
2.8
56
0
56
0
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[ 5.9765625, 185.2734375, 177.978515625, 38.14453125, -9.228515625, 0.4857737421989441 ]
2.85
57
0
57
0
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[ 6.328125, 185.2734375, 177.978515625, 36.2109375, -9.755859375, 0.4857737421989441 ]
2.9
58
0
58
0
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[ 6.240234375, 185.2734375, 177.978515625, 34.453125, -10.37109375, 0.4857737421989441 ]
2.95
59
0
59
0
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[ 6.240234375, 185.2734375, 177.978515625, 32.431640625, -10.986328125, 0.4857737421989441 ]
3
60
0
60
0
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[ 6.240234375, 185.2734375, 177.978515625, 30.5859375, -11.77734375, 0.4857737421989441 ]
3.05
61
0
61
0
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[ 6.240234375, 185.2734375, 177.978515625, 28.65234375, -12.65625, 0.4857737421989441 ]
3.1
62
0
62
0
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[ 6.240234375, 185.2734375, 177.978515625, 26.982421875, -13.798828125, 0.4857737421989441 ]
3.15
63
0
63
0
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[ 6.240234375, 185.2734375, 177.978515625, 25.576171875, -15.29296875, 0.4857737421989441 ]
3.2
64
0
64
0
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[ 6.240234375, 185.2734375, 177.978515625, 24.697265625, -17.666015625, 0.4857737421989441 ]
3.25
65
0
65
0
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[ 6.240234375, 185.2734375, 177.978515625, 23.73046875, -20.0390625, 0.4857737421989441 ]
3.3
66
0
66
0
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[ 6.240234375, 185.2734375, 177.978515625, 22.587890625, -23.5546875, 0.4857737421989441 ]
3.35
67
0
67
0
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[ 6.240234375, 185.2734375, 177.978515625, 21.357421875, -27.333984375, 0.4857737421989441 ]
3.4
68
0
68
0
[ 6.767578125, 186.240234375, 178.330078125, 15.908203125, -36.650390625, 0.09363295882940292 ]
[ 6.240234375, 185.2734375, 177.978515625, 19.951171875, -31.2890625, 0.4857737421989441 ]
3.45
69
0
69
0
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[ 6.240234375, 185.2734375, 177.978515625, 18.544921875, -34.013671875, 0.4857737421989441 ]
3.5
70
0
70
0
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[ 6.591796875, 185.2734375, 177.978515625, 17.138671875, -35.068359375, 0.4857737421989441 ]
3.55
71
0
71
0
[ 6.240234375, 186.240234375, 178.330078125, 12.744140625, -46.23046875, 0.09363295882940292 ]
[ 6.416015625, 185.2734375, 177.978515625, 16.083984375, -36.03515625, 0.4857737421989441 ]
3.6
72
0
72
0
[ 5.712890625, 186.240234375, 178.330078125, 12.568359375, -50.44921875, 0.09363295882940292 ]
[ 6.416015625, 185.2734375, 177.978515625, 14.853515625, -38.671875, 0.4857737421989441 ]
3.65
73
0
73
0
[ 5.537109375, 186.328125, 178.330078125, 12.83203125, -56.162109375, 0.09363295882940292 ]
[ 6.328125, 185.2734375, 177.978515625, 13.974609375, -43.41796875, 0.4857737421989441 ]
3.7
74
0
74
0
[ 5.09765625, 186.328125, 178.330078125, 13.271484375, -60.908203125, 0.09363295882940292 ]
[ 5.80078125, 185.2734375, 177.978515625, 13.798828125, -47.900390625, 0.4857737421989441 ]
3.75
75
0
75
0
[ 4.482421875, 186.328125, 178.330078125, 14.0625, -67.1484375, 0.09363295882940292 ]
[ 5.888671875, 185.2734375, 177.978515625, 13.798828125, -52.998046875, 0.4857737421989441 ]
3.8
76
0
76
0
[ 3.779296875, 186.328125, 178.330078125, 14.4140625, -70.751953125, 0.4681647717952728 ]
[ 5.537109375, 185.2734375, 177.978515625, 13.798828125, -57.919921875, 0.4857737421989441 ]
3.85
77
0
77
0
[ 3.33984375, 186.328125, 178.330078125, 16.083984375, -76.640625, 0.6554306745529175 ]
[ 4.306640625, 185.2734375, 177.978515625, 14.23828125, -63.45703125, 0.4857737421989441 ]
3.9
78
0
78
0
[ 2.900390625, 186.328125, 178.330078125, 16.34765625, -79.8046875, 0.7490636706352234 ]
[ 3.955078125, 185.2734375, 177.978515625, 14.58984375, -68.115234375, 0.4857737421989441 ]
3.95
79
0
79
0
[ 2.63671875, 186.328125, 178.330078125, 16.5234375, -83.056640625, 3.6516852378845215 ]
[ 4.04296875, 185.2734375, 177.978515625, 15.732421875, -73.037109375, 0.4857737421989441 ]
4
80
0
80
0
[ 2.548828125, 186.328125, 178.330078125, 17.05078125, -86.396484375, 10.767789840698242 ]
[ 2.724609375, 185.2734375, 177.978515625, 16.171875, -77.255859375, 0.4857737421989441 ]
4.05
81
0
81
0
[ 2.548828125, 186.328125, 178.330078125, 17.05078125, -88.330078125, 11.142322540283203 ]
[ 3.076171875, 185.2734375, 177.978515625, 16.5234375, -80.947265625, 2.4288687705993652 ]
4.1
82
0
82
0
[ 2.548828125, 186.328125, 178.330078125, 16.787109375, -89.736328125, 13.951310157775879 ]
[ 3.076171875, 185.2734375, 177.978515625, 16.787109375, -84.287109375, 6.592644214630127 ]
4.15
83
0
83
0
[ 2.548828125, 186.328125, 178.330078125, 16.962890625, -90.52734375, 17.228464126586914 ]
[ 2.28515625, 185.2734375, 177.978515625, 16.787109375, -86.572265625, 10.062457084655762 ]
4.2
84
0
84
0
[ 2.548828125, 186.328125, 178.330078125, 17.578125, -91.845703125, 19.288389205932617 ]
[ 2.98828125, 185.2734375, 177.978515625, 16.787109375, -88.330078125, 12.491325378417969 ]
4.25
85
0
85
0
[ 2.548828125, 186.328125, 178.330078125, 17.841796875, -92.021484375, 21.067415237426758 ]
[ 2.900390625, 185.2734375, 177.978515625, 16.962890625, -89.6484375, 15.405967712402344 ]
4.3
86
0
86
0
[ 2.548828125, 186.328125, 178.330078125, 17.9296875, -92.28515625, 22.752809524536133 ]
[ 2.373046875, 185.2734375, 177.978515625, 17.490234375, -90.703125, 17.765439987182617 ]
4.35
87
0
87
0
[ 2.548828125, 186.328125, 178.330078125, 18.80859375, -94.482421875, 30.524343490600586 ]
[ 2.548828125, 185.2734375, 177.978515625, 17.75390625, -91.318359375, 19.916725158691406 ]
4.4
88
0
88
0
[ 2.548828125, 186.328125, 178.330078125, 19.248046875, -95.625, 30.617977142333984 ]
[ 2.724609375, 185.2734375, 177.978515625, 18.017578125, -92.021484375, 21.651630401611328 ]
4.45
89
0
89
0
[ 2.548828125, 186.328125, 178.330078125, 19.248046875, -95.9765625, 32.95880126953125 ]
[ 2.724609375, 185.2734375, 177.978515625, 18.720703125, -93.779296875, 24.913253784179688 ]
4.5
90
0
90
0
[ 2.4609375, 186.328125, 178.330078125, 19.248046875, -96.064453125, 33.42696762084961 ]
[ 2.4609375, 185.2734375, 177.978515625, 18.984375, -94.74609375, 28.521860122680664 ]
4.55
91
0
91
0
[ 2.4609375, 186.328125, 178.330078125, 19.248046875, -96.064453125, 33.42696762084961 ]
[ 2.28515625, 185.2734375, 177.978515625, 19.16015625, -95.185546875, 31.089519500732422 ]
4.6
92
0
92
0
[ 2.4609375, 186.328125, 178.330078125, 19.16015625, -96.15234375, 33.42696762084961 ]
[ 2.373046875, 185.2734375, 177.978515625, 19.16015625, -95.44921875, 32.19986343383789 ]
4.65
93
0
93
0
[ 2.373046875, 186.328125, 178.330078125, 18.720703125, -96.15234375, 33.05243682861328 ]
[ 2.373046875, 185.2734375, 177.978515625, 19.16015625, -95.625, 32.68563461303711 ]
4.7
94
0
94
0
[ 2.28515625, 186.328125, 178.330078125, 18.369140625, -96.15234375, 32.95880126953125 ]
[ 2.373046875, 185.2734375, 177.978515625, 19.16015625, -95.625, 32.82442855834961 ]
4.75
95
0
95
0
[ 2.28515625, 186.328125, 178.330078125, 17.9296875, -96.15234375, 33.23970031738281 ]
[ 2.373046875, 185.2734375, 177.978515625, 19.16015625, -95.712890625, 32.89382553100586 ]
4.8
96
0
96
0
[ 2.28515625, 186.328125, 178.330078125, 17.578125, -96.15234375, 33.23970031738281 ]
[ 2.373046875, 185.2734375, 177.978515625, 18.984375, -95.712890625, 32.89382553100586 ]
4.85
97
0
97
0
[ 2.28515625, 186.328125, 178.2421875, 17.314453125, -96.15234375, 33.42696762084961 ]
[ 2.373046875, 185.2734375, 177.978515625, 18.6328125, -95.712890625, 32.89382553100586 ]
4.9
98
0
98
0
[ 2.28515625, 186.328125, 178.06640625, 17.314453125, -96.15234375, 33.42696762084961 ]
[ 2.373046875, 185.2734375, 177.978515625, 18.45703125, -95.712890625, 33.032615661621094 ]
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": 10,
    "total_frames": 6862,
    "total_tasks": 1,
    "total_videos": 30,
    "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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            "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": [
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            "names": [
                "main_shoulder_pan",
                "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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        "observation.images.front": {
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        "observation.images.wrist": {
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            "names": [
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                "channels"
            ],
            "info": {
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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