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Datasets:
FeiYjf
/
cjB12x

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
1
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action
sequence
observation.state
sequence
timestamp
float32
0
12.7
frame_index
int64
0
382
episode_index
int64
0
4
index
int64
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1.36k
task_index
int64
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[ 23.5546875, 101.953125, 107.2265625, 95.888671875, 57.919921875, 0.7476635575294495, 18.369140625 ]
2.233333
67
0
67
0
[ 23.818359375, 109.6875, 107.314453125, 95.888671875, 72.59765625, 1.9910084009170532, 12.919921875 ]
[ 23.37890625, 101.953125, 107.2265625, 95.625, 60.64453125, 0.7476635575294495, 18.369140625 ]
2.266667
68
0
68
0
[ 23.818359375, 109.6875, 107.314453125, 95.888671875, 75.41015625, 1.9910084009170532, 12.919921875 ]
[ 23.291015625, 101.953125, 107.2265625, 95.537109375, 63.720703125, 0.7476635575294495, 18.369140625 ]
2.3
69
0
69
0
[ 23.818359375, 109.599609375, 107.314453125, 95.888671875, 77.87109375, 1.9910084009170532, 12.919921875 ]
[ 23.37890625, 101.953125, 107.2265625, 95.537109375, 66.62109375, 0.7476635575294495, 18.369140625 ]
2.333333
70
0
70
0
[ 23.818359375, 109.599609375, 107.314453125, 95.888671875, 79.716796875, 1.9910084009170532, 12.919921875 ]
[ 23.5546875, 101.953125, 107.2265625, 95.361328125, 69.43359375, 0.7476635575294495, 18.369140625 ]
2.366667
71
0
71
0
[ 23.818359375, 109.599609375, 107.314453125, 95.888671875, 80.859375, 1.9910084009170532, 12.919921875 ]
[ 23.642578125, 101.953125, 107.2265625, 95.44921875, 72.24609375, 0.7476635575294495, 18.369140625 ]
2.4
72
0
72
0
[ 23.818359375, 109.599609375, 107.314453125, 95.888671875, 81.650390625, 1.9910084009170532, 12.919921875 ]
[ 23.642578125, 101.953125, 107.2265625, 95.44921875, 74.70703125, 0.7476635575294495, 18.369140625 ]
2.433333
73
0
73
0
[ 23.818359375, 109.51171875, 107.314453125, 95.888671875, 82.001953125, 1.9910084009170532, 12.919921875 ]
[ 23.642578125, 101.953125, 107.2265625, 95.2734375, 76.552734375, 0.7476635575294495, 18.369140625 ]
2.466667
74
0
74
0
[ 23.818359375, 109.51171875, 107.314453125, 95.888671875, 82.177734375, 1.9910084009170532, 12.919921875 ]
[ 23.642578125, 101.953125, 107.2265625, 95.185546875, 78.046875, 0.7476635575294495, 18.369140625 ]
2.5
75
0
75
0
[ 23.818359375, 109.51171875, 107.314453125, 95.888671875, 82.177734375, 1.9910084009170532, 12.919921875 ]
[ 23.642578125, 101.953125, 107.2265625, 95.185546875, 79.365234375, 0.7476635575294495, 18.369140625 ]
2.533333
76
0
76
0
[ 23.818359375, 109.423828125, 107.314453125, 95.888671875, 82.177734375, 1.9910084009170532, 13.0078125 ]
[ 23.642578125, 101.953125, 107.2265625, 95.361328125, 80.068359375, 0.7476635575294495, 18.369140625 ]
2.566667
77
0
77
0
[ 23.818359375, 109.423828125, 107.314453125, 95.888671875, 82.177734375, 1.9910084009170532, 13.0078125 ]
[ 23.642578125, 101.953125, 107.2265625, 95.361328125, 80.595703125, 0.7476635575294495, 18.369140625 ]
2.6
78
0
78
0
[ 23.818359375, 109.423828125, 107.314453125, 95.888671875, 82.08984375, 1.9910084009170532, 13.0078125 ]
[ 23.642578125, 101.953125, 107.2265625, 95.44921875, 80.947265625, 0.7476635575294495, 18.369140625 ]
2.633333
79
0
79
0
[ 23.818359375, 109.423828125, 107.314453125, 95.80078125, 82.08984375, 1.9910084009170532, 13.0078125 ]
[ 23.642578125, 101.953125, 107.2265625, 95.44921875, 81.123046875, 0.7476635575294495, 18.369140625 ]
2.666667
80
0
80
0
[ 23.818359375, 109.248046875, 107.2265625, 95.80078125, 82.08984375, 1.9910084009170532, 13.095703125 ]
[ 23.642578125, 101.953125, 107.2265625, 95.44921875, 81.298828125, 0.7476635575294495, 18.369140625 ]
2.7
81
0
81
0
[ 23.818359375, 108.6328125, 107.2265625, 95.80078125, 82.08984375, 1.9910084009170532, 13.095703125 ]
[ 23.642578125, 101.953125, 107.2265625, 95.2734375, 81.474609375, 0.7476635575294495, 18.369140625 ]
2.733333
82
0
82
0
[ 23.73046875, 107.578125, 107.138671875, 95.80078125, 82.08984375, 1.9910084009170532, 13.095703125 ]
[ 23.642578125, 101.953125, 107.2265625, 95.185546875, 81.474609375, 0.7476635575294495, 18.369140625 ]
2.766667
83
0
83
0
[ 23.73046875, 106.435546875, 106.435546875, 95.80078125, 82.08984375, 1.9910084009170532, 13.095703125 ]
[ 23.642578125, 101.953125, 107.2265625, 95.361328125, 81.474609375, 0.7476635575294495, 18.369140625 ]
2.8
84
0
84
0
[ 23.5546875, 105.29296875, 104.94140625, 95.80078125, 82.08984375, 1.9910084009170532, 13.095703125 ]
[ 23.642578125, 101.953125, 107.2265625, 95.44921875, 81.474609375, 0.7476635575294495, 18.369140625 ]
2.833333
85
0
85
0
[ 22.8515625, 104.23828125, 102.83203125, 95.80078125, 82.08984375, 1.9910084009170532, 13.095703125 ]
[ 23.642578125, 101.953125, 107.2265625, 95.44921875, 81.474609375, 0.7476635575294495, 18.369140625 ]
2.866667
86
0
86
0
[ 21.62109375, 103.18359375, 100.283203125, 95.80078125, 82.177734375, 1.9910084009170532, 13.095703125 ]
[ 23.642578125, 101.953125, 106.5234375, 95.44921875, 81.474609375, 0.7476635575294495, 18.369140625 ]
2.9
87
0
87
0
[ 20.126953125, 102.041015625, 97.646484375, 95.80078125, 82.6171875, 1.9910084009170532, 13.095703125 ]
[ 23.02734375, 101.953125, 105.380859375, 95.44921875, 81.474609375, 0.7476635575294495, 18.369140625 ]
2.933333
88
0
88
0
[ 18.6328125, 100.72265625, 95.009765625, 95.80078125, 82.705078125, 1.9910084009170532, 13.095703125 ]
[ 22.1484375, 101.953125, 103.88671875, 95.44921875, 81.474609375, 0.7476635575294495, 18.369140625 ]
2.966667
89
0
89
0
[ 17.314453125, 99.140625, 92.548828125, 95.80078125, 82.705078125, 1.9910084009170532, 13.095703125 ]
[ 21.09375, 101.6015625, 102.041015625, 95.44921875, 81.474609375, 0.7476635575294495, 18.369140625 ]
3
90
0
90
0
[ 16.083984375, 97.470703125, 90.3515625, 95.80078125, 82.705078125, 1.9910084009170532, 13.095703125 ]
[ 20.126953125, 100.634765625, 99.755859375, 95.185546875, 81.474609375, 0.7476635575294495, 18.369140625 ]
3.033333
91
0
91
0
[ 15.1171875, 95.712890625, 88.505859375, 95.80078125, 82.705078125, 1.9910084009170532, 13.18359375 ]
[ 18.984375, 99.580078125, 97.55859375, 95.44921875, 81.474609375, 0.7476635575294495, 18.369140625 ]
3.066667
92
0
92
0
[ 14.23828125, 94.21875, 86.923828125, 95.80078125, 82.705078125, 1.9910084009170532, 13.18359375 ]
[ 17.9296875, 98.26171875, 95.44921875, 95.44921875, 81.474609375, 0.7476635575294495, 18.369140625 ]
3.1
93
0
93
0
[ 13.447265625, 92.8125, 85.693359375, 95.80078125, 82.705078125, 1.9910084009170532, 13.271484375 ]
[ 16.787109375, 96.50390625, 93.251953125, 95.185546875, 81.474609375, 0.7476635575294495, 18.369140625 ]
3.133333
94
0
94
0
[ 12.744140625, 91.7578125, 84.90234375, 95.80078125, 82.705078125, 1.9910084009170532, 13.271484375 ]
[ 15.732421875, 95.185546875, 91.142578125, 95.09765625, 81.474609375, 0.7476635575294495, 18.369140625 ]
3.166667
95
0
95
0
[ 12.12890625, 90.87890625, 84.55078125, 95.80078125, 82.705078125, 1.9910084009170532, 13.271484375 ]
[ 14.677734375, 93.603515625, 89.384765625, 95.2734375, 81.474609375, 0.7476635575294495, 18.369140625 ]
3.2
96
0
96
0
[ 11.513671875, 90.3515625, 84.462890625, 95.80078125, 82.705078125, 1.9910084009170532, 13.359375 ]
[ 13.7109375, 92.197265625, 88.154296875, 95.361328125, 81.474609375, 0.7476635575294495, 18.369140625 ]
3.233333
97
0
97
0
[ 10.986328125, 90, 84.462890625, 95.80078125, 82.705078125, 1.9910084009170532, 13.359375 ]
[ 13.18359375, 91.142578125, 87.36328125, 95.009765625, 81.474609375, 0.7476635575294495, 18.369140625 ]
3.266667
98
0
98
0
[ 10.458984375, 89.82421875, 84.55078125, 95.80078125, 82.705078125, 1.9910084009170532, 13.359375 ]
[ 12.392578125, 90.52734375, 86.923828125, 95.09765625, 81.474609375, 0.7476635575294495, 18.369140625 ]
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": "v2.0",
    "robot_type": "so100",
    "total_episodes": 5,
    "total_frames": 1357,
    "total_tasks": 1,
    "total_videos": 10,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:5"
    },
    "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",
                "main_new_motor"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper",
                "main_new_motor"
            ]
        },
        "observation.images.left": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
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            "info": {
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                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
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        },
        "observation.images.right": {
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            "shape": [
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                640,
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            "names": [
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                "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": [
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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        },
        "task_index": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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