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Datasets:
jiroh2000
/
so100_test

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
10.9
frame_index
int64
0
327
episode_index
int64
0
9
index
int64
0
3.28k
task_index
int64
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[ 21.005859375, 188.26171875, 161.806640625, 75.76171875, -8.7890625, 0.45207956433296204 ]
2.433333
73
0
73
0
[ 25.400390625, 187.998046875, 159.521484375, 77.255859375, -12.216796875, 0.44883304834365845 ]
[ 21.796875, 188.26171875, 161.806640625, 76.376953125, -9.66796875, 0.45207956433296204 ]
2.466667
74
0
74
0
[ 27.0703125, 188.0859375, 159.345703125, 76.9921875, -13.18359375, 0.44883304834365845 ]
[ 23.203125, 188.26171875, 161.806640625, 76.728515625, -10.546875, 0.45207956433296204 ]
2.5
75
0
75
0
[ 28.740234375, 188.0859375, 159.169921875, 76.904296875, -14.326171875, 0.44883304834365845 ]
[ 24.873046875, 188.26171875, 161.806640625, 76.81640625, -11.513671875, 0.45207956433296204 ]
2.533333
76
0
76
0
[ 30.146484375, 188.173828125, 159.169921875, 76.81640625, -15.29296875, 0.44883304834365845 ]
[ 26.103515625, 188.26171875, 161.806640625, 76.81640625, -12.48046875, 0.45207956433296204 ]
2.566667
77
0
77
0
[ 31.46484375, 188.349609375, 159.169921875, 76.81640625, -15.99609375, 0.5385996699333191 ]
[ 27.421875, 188.26171875, 161.806640625, 76.81640625, -13.447265625, 0.45207956433296204 ]
2.6
78
0
78
0
[ 32.783203125, 188.61328125, 159.169921875, 76.46484375, -16.34765625, 0.5385996699333191 ]
[ 29.00390625, 188.26171875, 161.630859375, 76.81640625, -14.501953125, 0.45207956433296204 ]
2.633333
79
0
79
0
[ 34.189453125, 188.61328125, 159.169921875, 76.46484375, -16.34765625, 0.5385996699333191 ]
[ 30.673828125, 188.349609375, 161.630859375, 76.81640625, -15.029296875, 0.45207956433296204 ]
2.666667
80
0
80
0
[ 35.68359375, 188.61328125, 159.169921875, 76.2890625, -16.34765625, 0.5385996699333191 ]
[ 31.9921875, 188.349609375, 161.630859375, 76.81640625, -15.380859375, 0.45207956433296204 ]
2.7
81
0
81
0
[ 37.001953125, 188.61328125, 159.169921875, 76.11328125, -16.435546875, 0.5385996699333191 ]
[ 32.87109375, 188.349609375, 161.54296875, 76.81640625, -15.732421875, 0.45207956433296204 ]
2.733333
82
0
82
0
[ 38.14453125, 188.61328125, 159.169921875, 76.11328125, -16.435546875, 0.5385996699333191 ]
[ 34.453125, 188.349609375, 161.455078125, 76.81640625, -15.8203125, 0.45207956433296204 ]
2.766667
83
0
83
0
[ 39.0234375, 188.61328125, 159.2578125, 76.11328125, -16.435546875, 0.5385996699333191 ]
[ 36.298828125, 188.349609375, 161.455078125, 76.81640625, -15.99609375, 0.45207956433296204 ]
2.8
84
0
84
0
[ 39.638671875, 188.61328125, 159.521484375, 76.11328125, -16.435546875, 0.5385996699333191 ]
[ 37.177734375, 188.349609375, 161.455078125, 76.81640625, -15.99609375, 0.45207956433296204 ]
2.833333
85
0
85
0
[ 39.90234375, 188.61328125, 159.873046875, 76.11328125, -16.435546875, 0.5385996699333191 ]
[ 37.6171875, 188.349609375, 161.455078125, 76.81640625, -15.99609375, 0.45207956433296204 ]
2.866667
86
0
86
0
[ 39.990234375, 188.61328125, 160.048828125, 76.11328125, -16.435546875, 0.5385996699333191 ]
[ 38.671875, 188.349609375, 161.455078125, 76.81640625, -15.99609375, 0.45207956433296204 ]
2.9
87
0
87
0
[ 39.814453125, 188.61328125, 160.3125, 76.11328125, -16.435546875, 0.5385996699333191 ]
[ 39.375, 188.349609375, 161.455078125, 76.81640625, -16.083984375, 0.45207956433296204 ]
2.933333
88
0
88
0
[ 39.814453125, 188.701171875, 161.015625, 76.11328125, -16.259765625, 0.5385996699333191 ]
[ 39.55078125, 188.349609375, 161.455078125, 76.81640625, -16.171875, 0.45207956433296204 ]
2.966667
89
0
89
0
[ 39.814453125, 188.701171875, 161.630859375, 76.025390625, -15.99609375, 0.5385996699333191 ]
[ 39.19921875, 188.349609375, 161.455078125, 76.81640625, -16.171875, 0.45207956433296204 ]
3
90
0
90
0
[ 39.90234375, 188.701171875, 162.24609375, 75.76171875, -15.732421875, 0.5385996699333191 ]
[ 39.287109375, 188.525390625, 161.71875, 76.81640625, -16.171875, 0.45207956433296204 ]
3.033333
91
0
91
0
[ 39.990234375, 188.701171875, 162.94921875, 75.146484375, -15.732421875, 0.5385996699333191 ]
[ 39.638671875, 188.61328125, 162.158203125, 76.81640625, -16.171875, 0.45207956433296204 ]
3.066667
92
0
92
0
[ 40.078125, 188.701171875, 163.740234375, 74.794921875, -16.171875, 0.5385996699333191 ]
[ 39.814453125, 188.525390625, 162.421875, 76.81640625, -16.171875, 0.45207956433296204 ]
3.1
93
0
93
0
[ 40.078125, 188.701171875, 164.1796875, 74.35546875, -16.259765625, 0.44883304834365845 ]
[ 39.638671875, 188.525390625, 163.037109375, 76.2890625, -16.171875, 0.45207956433296204 ]
3.133333
94
0
94
0
[ 40.078125, 188.701171875, 164.53125, 74.091796875, -16.259765625, 0.44883304834365845 ]
[ 39.462890625, 188.525390625, 163.740234375, 75.9375, -16.171875, 0.45207956433296204 ]
3.166667
95
0
95
0
[ 40.078125, 188.701171875, 164.8828125, 74.091796875, -16.259765625, 0.44883304834365845 ]
[ 39.375, 188.525390625, 164.267578125, 75.41015625, -16.171875, 0.45207956433296204 ]
3.2
96
0
96
0
[ 40.078125, 188.701171875, 165.146484375, 74.091796875, -16.259765625, 0.44883304834365845 ]
[ 39.55078125, 188.173828125, 164.619140625, 75.146484375, -16.171875, 0.45207956433296204 ]
3.233333
97
0
97
0
[ 40.078125, 188.701171875, 165.146484375, 74.00390625, -16.259765625, 0.44883304834365845 ]
[ 39.7265625, 188.26171875, 165.146484375, 75.05859375, -16.171875, 0.45207956433296204 ]
3.266667
98
0
98
0
[ 40.078125, 188.701171875, 164.794921875, 74.00390625, -16.259765625, 0.44883304834365845 ]
[ 39.814453125, 188.173828125, 165.234375, 74.8828125, -16.171875, 0.45207956433296204 ]
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_with_koch",
    "total_episodes": 2,
    "total_frames": 1788,
    "total_tasks": 1,
    "total_videos": 4,
    "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": [
                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.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.webcam": {
            "dtype": "video",
            "shape": [
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                640,
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "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",
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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