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Datasets:
Winster
/
so100_sim

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
1
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sequence
observation.state
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float32
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29.9
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int64
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896
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[ 23.994140625, 87.1875, 75.05859375, 91.669921875, 85.4296875, 4.773662567138672 ]
[ 22.5, 85.078125, 77.255859375, 91.142578125, 85.341796875, 0.6220839619636536 ]
2.5
75
0
75
0
[ 24.2578125, 87.1875, 75.05859375, 91.669921875, 85.4296875, 7.078189373016357 ]
[ 22.763671875, 85.078125, 77.255859375, 91.142578125, 85.341796875, 1.7884914875030518 ]
2.533333
76
0
76
0
[ 24.43359375, 87.1875, 75.05859375, 91.669921875, 85.4296875, 9.629630088806152 ]
[ 22.939453125, 85.078125, 77.255859375, 91.142578125, 85.341796875, 2.799377918243408 ]
2.566667
77
0
77
0
[ 24.609375, 87.1875, 75.05859375, 91.669921875, 85.4296875, 12.263374328613281 ]
[ 23.02734375, 85.078125, 77.255859375, 91.142578125, 85.341796875, 4.043545722961426 ]
2.6
78
0
78
0
[ 24.78515625, 87.1875, 75.05859375, 91.669921875, 85.4296875, 14.814814567565918 ]
[ 23.115234375, 85.078125, 77.255859375, 91.142578125, 85.341796875, 5.987558364868164 ]
2.633333
79
0
79
0
[ 25.13671875, 87.1875, 75.05859375, 91.669921875, 85.4296875, 17.283950805664062 ]
[ 23.291015625, 85.078125, 77.255859375, 91.142578125, 85.341796875, 8.398133277893066 ]
2.666667
80
0
80
0
[ 25.576171875, 87.1875, 75.05859375, 91.669921875, 85.4296875, 19.50617218017578 ]
[ 23.5546875, 85.078125, 77.255859375, 91.142578125, 85.341796875, 10.730948448181152 ]
2.7
81
0
81
0
[ 26.19140625, 87.1875, 75.05859375, 91.669921875, 85.4296875, 21.481481552124023 ]
[ 23.994140625, 85.078125, 77.255859375, 91.142578125, 85.341796875, 13.29704475402832 ]
2.733333
82
0
82
0
[ 26.806640625, 87.1875, 75.05859375, 91.669921875, 85.4296875, 23.209877014160156 ]
[ 24.345703125, 85.078125, 77.255859375, 91.142578125, 85.341796875, 15.629859924316406 ]
2.766667
83
0
83
0
[ 27.509765625, 87.1875, 75.05859375, 91.669921875, 85.4296875, 24.526748657226562 ]
[ 24.873046875, 85.078125, 77.255859375, 91.142578125, 85.341796875, 17.88491439819336 ]
2.8
84
0
84
0
[ 28.037109375, 87.099609375, 75.05859375, 91.669921875, 85.4296875, 25.679012298583984 ]
[ 25.400390625, 85.078125, 77.255859375, 91.142578125, 85.341796875, 19.984447479248047 ]
2.833333
85
0
85
0
[ 28.65234375, 87.099609375, 75.05859375, 91.669921875, 85.4296875, 26.502058029174805 ]
[ 25.927734375, 85.078125, 77.255859375, 91.142578125, 85.341796875, 21.61741828918457 ]
2.866667
86
0
86
0
[ 29.35546875, 87.099609375, 75.05859375, 91.58203125, 85.4296875, 26.99588394165039 ]
[ 26.71875, 85.078125, 77.255859375, 91.142578125, 85.341796875, 23.017107009887695 ]
2.9
87
0
87
0
[ 29.8828125, 87.099609375, 75.05859375, 91.58203125, 85.4296875, 27.325103759765625 ]
[ 27.421875, 85.078125, 77.255859375, 91.142578125, 85.341796875, 24.183515548706055 ]
2.933333
88
0
88
0
[ 30.41015625, 87.01171875, 75.05859375, 91.58203125, 85.4296875, 27.5720157623291 ]
[ 28.125, 85.078125, 77.255859375, 91.142578125, 85.341796875, 24.805599212646484 ]
2.966667
89
0
89
0
[ 30.849609375, 86.923828125, 75.05859375, 91.40625, 85.4296875, 27.5720157623291 ]
[ 28.564453125, 85.078125, 77.255859375, 91.142578125, 85.341796875, 25.660964965820312 ]
3
90
0
90
0
[ 31.11328125, 86.748046875, 75.05859375, 91.0546875, 85.4296875, 27.654321670532227 ]
[ 29.00390625, 85.078125, 77.255859375, 91.142578125, 85.341796875, 26.049766540527344 ]
3.033333
91
0
91
0
[ 31.201171875, 86.572265625, 75.05859375, 90.439453125, 85.4296875, 27.73662567138672 ]
[ 29.1796875, 85.078125, 77.255859375, 91.142578125, 85.341796875, 26.360809326171875 ]
3.066667
92
0
92
0
[ 31.2890625, 86.396484375, 75.146484375, 89.736328125, 85.4296875, 27.901233673095703 ]
[ 29.619140625, 85.078125, 77.255859375, 91.142578125, 85.341796875, 26.59408950805664 ]
3.1
93
0
93
0
[ 31.2890625, 86.396484375, 75.146484375, 89.12109375, 85.4296875, 28.148147583007812 ]
[ 29.970703125, 85.078125, 77.255859375, 90.615234375, 85.341796875, 26.671850204467773 ]
3.133333
94
0
94
0
[ 31.376953125, 86.396484375, 75.322265625, 88.505859375, 85.4296875, 28.55967140197754 ]
[ 30.5859375, 85.078125, 77.255859375, 89.912109375, 85.341796875, 26.671850204467773 ]
3.166667
95
0
95
0
[ 31.46484375, 86.396484375, 75.41015625, 88.06640625, 85.4296875, 29.13580322265625 ]
[ 30.76171875, 85.078125, 77.255859375, 89.560546875, 85.341796875, 27.293933868408203 ]
3.2
96
0
96
0
[ 31.46484375, 86.396484375, 75.498046875, 87.71484375, 85.4296875, 29.958847045898438 ]
[ 30.849609375, 85.078125, 77.255859375, 88.9453125, 85.341796875, 27.604976654052734 ]
3.233333
97
0
97
0
[ 31.46484375, 86.396484375, 75.5859375, 87.5390625, 85.4296875, 30.946502685546875 ]
[ 30.76171875, 85.078125, 77.255859375, 88.59375, 85.341796875, 28.14929962158203 ]
3.266667
98
0
98
0
[ 31.46484375, 86.396484375, 75.76171875, 87.451171875, 85.4296875, 32.01646041870117 ]
[ 30.322265625, 85.078125, 77.255859375, 87.890625, 85.341796875, 28.460342407226562 ]
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": 20,
    "total_frames": 17940,
    "total_tasks": 1,
    "total_videos": 20,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:20"
    },
    "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.laptop": {
            "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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