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Datasets:
taishanli
/
so100_test

Tasks:
Robotics
Modalities:
Tabular
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1K - 10K
Tags:
LeRobot
so100
tutorial
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action
sequence
observation.state
sequence
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
[ 5.185546875, 177.71484375, 174.814453125, 52.470703125, 5.2734375, 17.578125, 0.135869562625885 ]
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[ 1.845703125, 127.44140625, 133.154296875, 44.82421875, 5.888671875, 33.486328125, 92.64705657958984 ]
2.166667
65
0
65
0
[ 2.373046875, 121.9921875, 124.013671875, 41.923828125, 5.185546875, 34.189453125, 93.07064819335938 ]
[ 1.93359375, 125.419921875, 131.748046875, 44.6484375, 5.888671875, 33.662109375, 92.64705657958984 ]
2.2
66
0
66
0
[ 2.373046875, 121.376953125, 123.92578125, 41.923828125, 5.185546875, 34.189453125, 93.07064819335938 ]
[ 1.93359375, 123.662109375, 130.693359375, 44.560546875, 5.888671875, 33.75, 92.64705657958984 ]
2.233333
67
0
67
0
[ 2.28515625, 121.11328125, 123.92578125, 41.923828125, 5.185546875, 34.1015625, 93.07064819335938 ]
[ 1.93359375, 122.16796875, 130.166015625, 44.560546875, 5.888671875, 33.92578125, 92.64705657958984 ]
2.266667
68
0
68
0
[ 2.021484375, 121.11328125, 124.013671875, 41.923828125, 5.185546875, 34.013671875, 93.07064819335938 ]
[ 1.93359375, 121.376953125, 129.990234375, 44.560546875, 5.888671875, 34.013671875, 92.64705657958984 ]
2.3
69
0
69
0
[ 1.7578125, 121.11328125, 123.92578125, 41.923828125, 5.185546875, 33.92578125, 93.07064819335938 ]
[ 1.93359375, 120.9375, 129.90234375, 44.560546875, 5.888671875, 34.013671875, 92.64705657958984 ]
2.333333
70
0
70
0
[ 1.40625, 121.025390625, 123.92578125, 41.923828125, 5.185546875, 33.92578125, 93.07064819335938 ]
[ 1.93359375, 120.76171875, 129.90234375, 44.560546875, 5.888671875, 34.013671875, 92.64705657958984 ]
2.366667
71
0
71
0
[ 0.87890625, 120.673828125, 123.486328125, 41.923828125, 5.185546875, 33.75, 92.93478393554688 ]
[ 2.021484375, 120.673828125, 129.814453125, 44.560546875, 5.888671875, 34.013671875, 92.64705657958984 ]
2.4
72
0
72
0
[ 0.439453125, 120.322265625, 122.958984375, 41.923828125, 5.185546875, 33.662109375, 92.93478393554688 ]
[ 2.021484375, 120.5859375, 129.7265625, 44.560546875, 5.888671875, 34.013671875, 92.64705657958984 ]
2.433333
73
0
73
0
[ 0.087890625, 119.970703125, 122.34375, 41.923828125, 5.185546875, 33.57421875, 92.66304016113281 ]
[ 1.669921875, 120.05859375, 129.19921875, 44.560546875, 5.888671875, 34.013671875, 92.64705657958984 ]
2.466667
74
0
74
0
[ -0.17578125, 119.794921875, 121.640625, 42.01171875, 5.185546875, 33.3984375, 91.84782409667969 ]
[ 1.23046875, 119.70703125, 128.49609375, 44.560546875, 5.888671875, 34.013671875, 92.64705657958984 ]
2.5
75
0
75
0
[ -0.17578125, 119.794921875, 121.11328125, 41.923828125, 5.185546875, 33.486328125, 90.76087188720703 ]
[ 0.52734375, 119.53125, 128.056640625, 44.560546875, 5.888671875, 33.92578125, 92.64705657958984 ]
2.533333
76
0
76
0
[ -0.17578125, 119.794921875, 120.498046875, 41.923828125, 5.185546875, 33.486328125, 88.17935180664062 ]
[ 0, 119.443359375, 127.6171875, 44.560546875, 5.888671875, 33.92578125, 92.22689056396484 ]
2.566667
77
0
77
0
[ -0.17578125, 119.794921875, 119.8828125, 42.01171875, 5.185546875, 33.57421875, 87.22826385498047 ]
[ -0.087890625, 119.443359375, 126.9140625, 44.560546875, 5.888671875, 33.837890625, 91.80672454833984 ]
2.6
78
0
78
0
[ -0.17578125, 119.794921875, 119.35546875, 42.099609375, 5.185546875, 33.75, 86.27717590332031 ]
[ -0.087890625, 119.443359375, 126.2109375, 44.560546875, 5.888671875, 33.837890625, 89.91596984863281 ]
2.633333
79
0
79
0
[ -0.17578125, 119.794921875, 118.740234375, 42.626953125, 5.185546875, 34.716796875, 85.05435180664062 ]
[ 0.087890625, 119.443359375, 125.68359375, 44.560546875, 5.888671875, 33.837890625, 88.86554718017578 ]
2.666667
80
0
80
0
[ -0.17578125, 119.794921875, 118.65234375, 42.71484375, 5.185546875, 36.5625, 84.51087188720703 ]
[ 0.439453125, 119.443359375, 124.98046875, 44.560546875, 5.888671875, 33.837890625, 87.81512451171875 ]
2.7
81
0
81
0
[ -0.17578125, 119.794921875, 118.65234375, 43.505859375, 5.2734375, 39.990234375, 84.375 ]
[ 0.615234375, 119.443359375, 124.62890625, 44.560546875, 5.888671875, 34.365234375, 86.76470184326172 ]
2.733333
82
0
82
0
[ -0.17578125, 119.794921875, 118.4765625, 45.263671875, 5.2734375, 44.560546875, 84.64673614501953 ]
[ 0.615234375, 119.443359375, 124.27734375, 44.560546875, 5.888671875, 35.419921875, 86.13445281982422 ]
2.766667
83
0
83
0
[ -0.439453125, 119.794921875, 118.388671875, 47.4609375, 5.2734375, 50.888671875, 84.64673614501953 ]
[ 0.439453125, 119.443359375, 124.27734375, 44.912109375, 5.888671875, 37.177734375, 85.92436981201172 ]
2.8
84
0
84
0
[ -0.966796875, 119.794921875, 118.388671875, 50.09765625, 5.2734375, 59.23828125, 84.9184799194336 ]
[ 0.3515625, 119.443359375, 124.27734375, 45.87890625, 5.888671875, 39.7265625, 85.92436981201172 ]
2.833333
85
0
85
0
[ -1.669921875, 119.794921875, 118.388671875, 51.6796875, 5.2734375, 65.7421875, 85.19021606445312 ]
[ 0.17578125, 119.443359375, 124.27734375, 47.4609375, 5.888671875, 43.505859375, 85.92436981201172 ]
2.866667
86
0
86
0
[ -2.373046875, 119.794921875, 118.388671875, 52.3828125, 5.185546875, 71.89453125, 85.19021606445312 ]
[ -0.3515625, 119.443359375, 124.27734375, 49.21875, 5.888671875, 48.955078125, 85.92436981201172 ]
2.9
87
0
87
0
[ -3.251953125, 119.794921875, 118.388671875, 52.998046875, 5.185546875, 78.310546875, 85.19021606445312 ]
[ -0.87890625, 119.443359375, 124.27734375, 50.44921875, 5.888671875, 53.525390625, 85.92436981201172 ]
2.933333
88
0
88
0
[ -3.603515625, 119.794921875, 118.388671875, 53.0859375, 5.2734375, 82.880859375, 85.19021606445312 ]
[ -1.669921875, 119.443359375, 124.27734375, 51.328125, 5.888671875, 59.501953125, 85.92436981201172 ]
2.966667
89
0
89
0
[ -3.603515625, 119.794921875, 118.388671875, 53.0859375, 5.2734375, 85.4296875, 85.19021606445312 ]
[ -2.63671875, 119.443359375, 124.27734375, 51.943359375, 5.888671875, 65.0390625, 85.92436981201172 ]
3
90
0
90
0
[ -3.515625, 119.794921875, 118.388671875, 53.0859375, 5.2734375, 88.06640625, 85.19021606445312 ]
[ -3.251953125, 119.443359375, 124.27734375, 52.294921875, 5.888671875, 71.015625, 85.92436981201172 ]
3.033333
91
0
91
0
[ -3.515625, 119.794921875, 118.388671875, 53.701171875, 5.2734375, 91.23046875, 85.05435180664062 ]
[ -3.33984375, 119.443359375, 124.27734375, 52.55859375, 5.888671875, 76.201171875, 85.92436981201172 ]
3.066667
92
0
92
0
[ -3.515625, 119.794921875, 118.4765625, 54.052734375, 5.2734375, 93.515625, 85.19021606445312 ]
[ -3.251953125, 119.443359375, 124.27734375, 52.91015625, 5.888671875, 80.68359375, 85.92436981201172 ]
3.1
93
0
93
0
[ -3.427734375, 119.794921875, 118.564453125, 54.052734375, 5.2734375, 94.833984375, 85.19021606445312 ]
[ -2.8125, 119.443359375, 124.27734375, 53.349609375, 5.888671875, 84.7265625, 85.92436981201172 ]
3.133333
94
0
94
0
[ -3.427734375, 119.794921875, 118.65234375, 54.052734375, 5.185546875, 95.9765625, 85.19021606445312 ]
[ -2.63671875, 119.443359375, 124.27734375, 53.61328125, 5.888671875, 88.2421875, 85.92436981201172 ]
3.166667
95
0
95
0
[ -3.427734375, 119.794921875, 118.828125, 54.052734375, 5.2734375, 96.15234375, 86.00543975830078 ]
[ -2.63671875, 119.443359375, 124.27734375, 53.701171875, 5.888671875, 90.87890625, 85.92436981201172 ]
3.2
96
0
96
0
[ -3.076171875, 119.794921875, 118.828125, 54.052734375, 5.2734375, 96.15234375, 86.00543975830078 ]
[ -2.8125, 119.443359375, 124.27734375, 53.7890625, 5.888671875, 92.724609375, 85.92436981201172 ]
3.233333
97
0
97
0
[ -2.8125, 119.794921875, 118.828125, 54.052734375, 5.2734375, 96.15234375, 86.00543975830078 ]
[ -3.1640625, 119.443359375, 124.27734375, 53.7890625, 5.888671875, 93.8671875, 85.92436981201172 ]
3.266667
98
0
98
0
[ -2.724609375, 119.794921875, 118.828125, 54.052734375, 5.2734375, 96.15234375, 86.14130401611328 ]
[ -3.33984375, 119.443359375, 124.27734375, 53.7890625, 5.888671875, 94.658203125, 85.92436981201172 ]
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": 2,
    "total_frames": 1790,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
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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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                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_wrist_rotate",
                "main_gripper"
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        "observation.state": {
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_wrist_rotate",
                "main_gripper"
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        "observation.images.laptop": {
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        "timestamp": {
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        "frame_index": {
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    }
}

Citation

BibTeX:

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