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Datasets:
Cidoyi
/
so100_23

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
pandas
License:
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action
sequence
observation.state
sequence
timestamp
float32
0
9.37
frame_index
int64
0
281
episode_index
int64
0
0
index
int64
0
281
task_index
int64
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72
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[ 27.685546875, 127.001953125, 157.412109375, -50.712890625, 175.60546875, 99.44953918457031 ]
[ 28.037109375, 127.529296875, 161.89453125, -48.427734375, 174.90234375, 99.05497741699219 ]
2.433333
73
0
73
0
[ 27.509765625, 126.5625, 157.412109375, -51.064453125, 175.78125, 99.44953918457031 ]
[ 28.037109375, 127.177734375, 161.89453125, -48.779296875, 174.90234375, 99.05497741699219 ]
2.466667
74
0
74
0
[ 27.421875, 126.2109375, 157.412109375, -51.416015625, 175.78125, 99.44953918457031 ]
[ 28.037109375, 126.826171875, 161.89453125, -49.130859375, 174.990234375, 99.05497741699219 ]
2.5
75
0
75
0
[ 27.333984375, 125.68359375, 157.412109375, -51.943359375, 175.78125, 99.44953918457031 ]
[ 28.037109375, 126.474609375, 161.89453125, -49.482421875, 175.166015625, 99.05497741699219 ]
2.533333
76
0
76
0
[ 27.24609375, 125.244140625, 157.412109375, -52.470703125, 175.693359375, 99.44953918457031 ]
[ 28.037109375, 125.947265625, 161.89453125, -49.833984375, 175.341796875, 99.05497741699219 ]
2.566667
77
0
77
0
[ 27.24609375, 124.716796875, 157.32421875, -52.91015625, 175.693359375, 99.44953918457031 ]
[ 28.037109375, 125.5078125, 161.89453125, -50.2734375, 175.4296875, 99.05497741699219 ]
2.6
78
0
78
0
[ 27.24609375, 124.27734375, 157.32421875, -53.525390625, 175.693359375, 99.44953918457031 ]
[ 27.94921875, 124.98046875, 161.89453125, -50.712890625, 175.4296875, 99.05497741699219 ]
2.633333
79
0
79
0
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[ 27.685546875, 124.541015625, 161.89453125, -51.240234375, 175.4296875, 99.05497741699219 ]
2.666667
80
0
80
0
[ 27.333984375, 123.3984375, 157.32421875, -54.228515625, 175.693359375, 99.44953918457031 ]
[ 27.421875, 124.013671875, 161.89453125, -51.6796875, 175.4296875, 99.05497741699219 ]
2.7
81
0
81
0
[ 27.333984375, 122.87109375, 157.32421875, -54.4921875, 175.693359375, 99.44953918457031 ]
[ 27.333984375, 123.662109375, 161.89453125, -52.119140625, 175.4296875, 99.05497741699219 ]
2.733333
82
0
82
0
[ 27.333984375, 122.51953125, 157.236328125, -54.580078125, 175.693359375, 99.44953918457031 ]
[ 27.333984375, 123.134765625, 161.89453125, -52.55859375, 175.4296875, 99.05497741699219 ]
2.766667
83
0
83
0
[ 27.421875, 122.16796875, 157.236328125, -54.931640625, 175.693359375, 99.44953918457031 ]
[ 27.333984375, 122.6953125, 161.89453125, -52.91015625, 175.4296875, 99.05497741699219 ]
2.8
84
0
84
0
[ 27.421875, 121.81640625, 157.236328125, -55.283203125, 175.693359375, 99.44953918457031 ]
[ 27.333984375, 122.34375, 161.89453125, -53.173828125, 175.4296875, 99.05497741699219 ]
2.833333
85
0
85
0
[ 27.421875, 121.46484375, 157.1484375, -55.72265625, 175.693359375, 99.44953918457031 ]
[ 27.333984375, 121.9921875, 161.89453125, -53.4375, 175.4296875, 99.05497741699219 ]
2.866667
86
0
86
0
[ 27.421875, 121.025390625, 157.1484375, -56.07421875, 175.693359375, 99.44953918457031 ]
[ 27.333984375, 121.640625, 161.89453125, -53.7890625, 175.4296875, 99.05497741699219 ]
2.9
87
0
87
0
[ 27.421875, 120.5859375, 157.060546875, -56.42578125, 175.60546875, 99.44953918457031 ]
[ 27.333984375, 121.201171875, 161.806640625, -54.052734375, 175.4296875, 99.05497741699219 ]
2.933333
88
0
88
0
[ 27.509765625, 120.234375, 156.97265625, -56.689453125, 175.60546875, 99.44953918457031 ]
[ 27.333984375, 120.76171875, 161.630859375, -54.4921875, 175.4296875, 99.05497741699219 ]
2.966667
89
0
89
0
[ 27.685546875, 119.8828125, 156.884765625, -56.865234375, 175.60546875, 99.44953918457031 ]
[ 27.333984375, 120.322265625, 161.3671875, -54.755859375, 175.4296875, 99.05497741699219 ]
3
90
0
90
0
[ 27.7734375, 119.619140625, 156.708984375, -57.041015625, 175.60546875, 99.44953918457031 ]
[ 27.333984375, 119.970703125, 161.103515625, -55.107421875, 175.4296875, 99.05497741699219 ]
3.033333
91
0
91
0
[ 27.861328125, 119.267578125, 156.62109375, -57.216796875, 175.60546875, 99.44953918457031 ]
[ 27.333984375, 119.619140625, 160.751953125, -55.37109375, 175.4296875, 99.05497741699219 ]
3.066667
92
0
92
0
[ 27.861328125, 118.916015625, 156.62109375, -57.48046875, 175.60546875, 99.44953918457031 ]
[ 27.333984375, 119.35546875, 160.48828125, -55.634765625, 175.4296875, 99.05497741699219 ]
3.1
93
0
93
0
[ 27.861328125, 118.65234375, 156.533203125, -57.65625, 175.60546875, 99.44953918457031 ]
[ 27.333984375, 119.00390625, 160.3125, -55.810546875, 175.4296875, 99.05497741699219 ]
3.133333
94
0
94
0
[ 27.861328125, 118.388671875, 156.533203125, -57.744140625, 175.60546875, 99.44953918457031 ]
[ 27.333984375, 118.65234375, 160.224609375, -55.986328125, 175.4296875, 99.05497741699219 ]
3.166667
95
0
95
0
[ 27.861328125, 118.125, 156.4453125, -57.744140625, 175.60546875, 99.44953918457031 ]
[ 27.333984375, 118.30078125, 160.224609375, -56.25, 175.4296875, 99.05497741699219 ]
3.2
96
0
96
0
[ 27.7734375, 117.94921875, 156.4453125, -57.83203125, 175.60546875, 99.44953918457031 ]
[ 27.333984375, 118.037109375, 160.224609375, -56.337890625, 175.4296875, 99.05497741699219 ]
3.233333
97
0
97
0
[ 27.685546875, 117.7734375, 156.4453125, -57.83203125, 175.60546875, 99.44953918457031 ]
[ 27.333984375, 117.685546875, 160.224609375, -56.42578125, 175.4296875, 99.05497741699219 ]
3.266667
98
0
98
0
[ 27.685546875, 117.59765625, 156.533203125, -57.83203125, 175.60546875, 99.44953918457031 ]
[ 27.333984375, 117.509765625, 160.224609375, -56.42578125, 175.4296875, 99.05497741699219 ]
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": 1,
    "total_frames": 282,
    "total_tasks": 1,
    "total_videos": 1,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "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.keyboard_camera": {
            "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": "h264",
                "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
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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