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julyfun
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so100_pick_and_place_v2_50

Tasks:
Robotics
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Tabular
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1K - 10K
Tags:
LeRobot
so100
tutorial
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action
sequence
observation.state
sequence
timestamp
float32
0
22.8
frame_index
int64
0
685
episode_index
int64
0
19
index
int64
0
8.98k
task_index
int64
0
0
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[ 15.556640625, 101.07421875, 83.671875, 104.677734375, -67.939453125, -2.3809523582458496 ]
2.333333
70
0
70
0
[ 17.666015625, 97.822265625, 78.22265625, 104.4140625, -68.02734375, -5.184331893920898 ]
[ 16.083984375, 100.01953125, 82.880859375, 104.677734375, -67.939453125, -2.3809523582458496 ]
2.366667
71
0
71
0
[ 17.9296875, 97.119140625, 77.958984375, 104.4140625, -68.203125, -5.184331893920898 ]
[ 16.5234375, 98.96484375, 82.265625, 104.677734375, -67.939453125, -2.3809523582458496 ]
2.4
72
0
72
0
[ 18.28125, 96.416015625, 77.6953125, 104.4140625, -68.37890625, -5.184331893920898 ]
[ 16.962890625, 98.0859375, 81.826171875, 104.677734375, -67.939453125, -2.3809523582458496 ]
2.433333
73
0
73
0
[ 18.544921875, 95.712890625, 77.34375, 104.4140625, -68.73046875, -5.184331893920898 ]
[ 17.314453125, 97.20703125, 81.5625, 104.677734375, -67.939453125, -2.3809523582458496 ]
2.466667
74
0
74
0
[ 18.80859375, 94.833984375, 76.904296875, 104.4140625, -69.2578125, -5.184331893920898 ]
[ 17.666015625, 96.416015625, 81.2109375, 104.677734375, -67.939453125, -2.3809523582458496 ]
2.5
75
0
75
0
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[ 17.9296875, 95.625, 80.947265625, 104.677734375, -68.02734375, -2.3809523582458496 ]
2.533333
76
0
76
0
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[ 18.28125, 94.921875, 80.419921875, 104.677734375, -68.37890625, -2.3809523582458496 ]
2.566667
77
0
77
0
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[ 18.544921875, 94.04296875, 79.98046875, 104.677734375, -68.818359375, -2.3809523582458496 ]
2.6
78
0
78
0
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[ 18.80859375, 93.251953125, 79.453125, 104.677734375, -69.169921875, -2.3809523582458496 ]
2.633333
79
0
79
0
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2.666667
80
0
80
0
[ 20.478515625, 90.615234375, 73.828125, 104.501953125, -71.455078125, -5.184331893920898 ]
[ 19.3359375, 91.669921875, 78.3984375, 104.677734375, -69.873046875, -2.3809523582458496 ]
2.7
81
0
81
0
[ 20.91796875, 90.087890625, 73.30078125, 104.501953125, -71.71875, -5.184331893920898 ]
[ 19.599609375, 90.966796875, 77.87109375, 104.677734375, -70.224609375, -2.3809523582458496 ]
2.733333
82
0
82
0
[ 21.181640625, 89.47265625, 72.509765625, 104.501953125, -71.982421875, -5.184331893920898 ]
[ 19.951171875, 90.3515625, 77.431640625, 104.677734375, -70.576171875, -2.3809523582458496 ]
2.766667
83
0
83
0
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[ 20.302734375, 89.82421875, 76.904296875, 104.677734375, -70.927734375, -2.3809523582458496 ]
2.8
84
0
84
0
[ 21.708984375, 88.41796875, 70.576171875, 104.58984375, -72.333984375, -5.299539089202881 ]
[ 20.654296875, 89.208984375, 76.11328125, 104.677734375, -71.19140625, -2.3809523582458496 ]
2.833333
85
0
85
0
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[ 21.005859375, 88.59375, 75.322265625, 104.677734375, -71.455078125, -2.3809523582458496 ]
2.866667
86
0
86
0
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[ 21.181640625, 88.154296875, 74.443359375, 104.677734375, -71.630859375, -2.3809523582458496 ]
2.9
87
0
87
0
[ 22.1484375, 87.451171875, 68.73046875, 104.677734375, -72.7734375, -5.299539089202881 ]
[ 21.357421875, 87.71484375, 73.65234375, 104.677734375, -71.806640625, -2.3809523582458496 ]
2.933333
88
0
88
0
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[ 21.533203125, 87.5390625, 72.94921875, 104.677734375, -71.982421875, -2.3809523582458496 ]
2.966667
89
0
89
0
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[ 21.708984375, 87.275390625, 72.333984375, 104.677734375, -72.158203125, -2.3809523582458496 ]
3
90
0
90
0
[ 22.1484375, 86.66015625, 67.5, 104.677734375, -72.861328125, -5.299539089202881 ]
[ 21.708984375, 86.923828125, 71.806640625, 104.677734375, -72.158203125, -2.3809523582458496 ]
3.033333
91
0
91
0
[ 21.97265625, 86.484375, 67.1484375, 104.677734375, -72.861328125, -5.299539089202881 ]
[ 21.796875, 86.748046875, 71.455078125, 104.677734375, -72.333984375, -2.3809523582458496 ]
3.066667
92
0
92
0
[ 21.708984375, 86.30859375, 66.708984375, 104.677734375, -72.861328125, -5.299539089202881 ]
[ 21.884765625, 86.484375, 71.103515625, 104.677734375, -72.333984375, -2.3809523582458496 ]
3.1
93
0
93
0
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[ 21.884765625, 86.220703125, 70.6640625, 104.677734375, -72.333984375, -2.3809523582458496 ]
3.133333
94
0
94
0
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[ 21.884765625, 85.95703125, 70.224609375, 104.677734375, -72.333984375, -2.3809523582458496 ]
3.166667
95
0
95
0
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[ 21.796875, 85.60546875, 69.697265625, 104.677734375, -72.333984375, -2.3809523582458496 ]
3.2
96
0
96
0
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[ 21.708984375, 85.4296875, 69.2578125, 104.677734375, -72.333984375, -2.3809523582458496 ]
3.233333
97
0
97
0
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[ 21.62109375, 85.166015625, 68.73046875, 104.677734375, -72.333984375, -2.3809523582458496 ]
3.266667
98
0
98
0
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[ 21.357421875, 84.90234375, 68.291015625, 104.677734375, -72.333984375, -2.3809523582458496 ]
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": 10,
    "total_frames": 4325,
    "total_tasks": 1,
    "total_videos": 10,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.hand": {
            "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": "av1",
                "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
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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