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Datasets:
gdut508
/
rm_so100_test_3

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
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Dask
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action
sequence
observation.state
sequence
timestamp
float32
0
21.1
frame_index
int64
0
633
episode_index
int64
0
17
index
int64
0
6.5k
task_index
int64
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[ 23.73046875, 179.6484375, 118.30078125, 95.888671875, 14.4140625, 1.8760195970535278 ]
2.433333
73
0
73
0
[ 24.43359375, 179.296875, 118.740234375, 95.09765625, 13.53515625, 4.4103546142578125 ]
[ 23.642578125, 179.6484375, 118.30078125, 95.888671875, 14.150390625, 2.039151668548584 ]
2.466667
74
0
74
0
[ 24.78515625, 179.296875, 119.1796875, 94.921875, 13.53515625, 4.4103546142578125 ]
[ 23.642578125, 179.6484375, 118.30078125, 95.888671875, 13.7109375, 2.039151668548584 ]
2.5
75
0
75
0
[ 24.78515625, 179.384765625, 119.443359375, 94.833984375, 13.623046875, 4.314477443695068 ]
[ 23.73046875, 179.6484375, 118.30078125, 95.888671875, 13.359375, 2.2838499546051025 ]
2.533333
76
0
76
0
[ 24.43359375, 179.384765625, 119.70703125, 94.74609375, 13.7109375, 4.314477443695068 ]
[ 23.818359375, 179.6484375, 118.740234375, 95.712890625, 13.18359375, 2.7732462882995605 ]
2.566667
77
0
77
0
[ 24.2578125, 179.47265625, 120.05859375, 94.658203125, 13.359375, 4.602109432220459 ]
[ 23.818359375, 179.6484375, 119.1796875, 95.44921875, 13.0078125, 3.181076765060425 ]
2.6
78
0
78
0
[ 24.2578125, 179.47265625, 120.41015625, 94.482421875, 13.0078125, 4.602109432220459 ]
[ 23.818359375, 179.6484375, 119.53125, 95.185546875, 13.0078125, 3.4257748126983643 ]
2.633333
79
0
79
0
[ 24.169921875, 179.47265625, 120.9375, 94.306640625, 12.744140625, 4.506231784820557 ]
[ 23.818359375, 179.6484375, 119.970703125, 95.09765625, 13.0078125, 3.58890700340271 ]
2.666667
80
0
80
0
[ 23.291015625, 179.47265625, 121.025390625, 94.306640625, 12.744140625, 4.4103546142578125 ]
[ 23.818359375, 179.6484375, 120.322265625, 94.921875, 13.0078125, 3.670473098754883 ]
2.7
81
0
81
0
[ 23.203125, 179.47265625, 120.76171875, 94.306640625, 13.0078125, 4.314477443695068 ]
[ 23.818359375, 179.6484375, 120.673828125, 94.921875, 12.65625, 3.670473098754883 ]
2.733333
82
0
82
0
[ 24.345703125, 179.47265625, 120.673828125, 94.39453125, 12.83203125, 4.026845455169678 ]
[ 23.73046875, 179.6484375, 120.849609375, 94.921875, 12.48046875, 3.670473098754883 ]
2.766667
83
0
83
0
[ 25.400390625, 179.47265625, 120.76171875, 94.39453125, 12.392578125, 3.9309682846069336 ]
[ 23.73046875, 179.6484375, 120.9375, 94.921875, 12.48046875, 3.670473098754883 ]
2.8
84
0
84
0
[ 26.015625, 179.47265625, 121.11328125, 94.306640625, 12.216796875, 3.8350911140441895 ]
[ 23.642578125, 179.6484375, 120.9375, 94.921875, 12.3046875, 3.670473098754883 ]
2.833333
85
0
85
0
[ 26.3671875, 179.47265625, 121.376953125, 94.21875, 12.3046875, 3.8350911140441895 ]
[ 23.994140625, 179.6484375, 120.9375, 94.921875, 12.12890625, 3.670473098754883 ]
2.866667
86
0
86
0
[ 26.3671875, 179.560546875, 121.46484375, 94.21875, 12.48046875, 3.9309682846069336 ]
[ 24.9609375, 179.6484375, 120.9375, 94.921875, 12.041015625, 3.670473098754883 ]
2.9
87
0
87
0
[ 26.3671875, 179.560546875, 121.376953125, 94.21875, 12.568359375, 4.218600273132324 ]
[ 25.6640625, 179.6484375, 120.9375, 94.921875, 12.12890625, 3.670473098754883 ]
2.933333
88
0
88
0
[ 26.3671875, 179.560546875, 121.2890625, 94.21875, 12.65625, 4.4103546142578125 ]
[ 25.927734375, 179.6484375, 120.9375, 94.921875, 12.12890625, 3.58890700340271 ]
2.966667
89
0
89
0
[ 26.455078125, 179.560546875, 121.640625, 94.21875, 12.48046875, 4.506231784820557 ]
[ 25.927734375, 179.6484375, 120.9375, 94.921875, 12.12890625, 3.58890700340271 ]
3
90
0
90
0
[ 26.71875, 179.560546875, 121.81640625, 94.130859375, 12.216796875, 4.4103546142578125 ]
[ 25.751953125, 179.6484375, 120.9375, 94.921875, 12.12890625, 3.58890700340271 ]
3.033333
91
0
91
0
[ 26.982421875, 179.560546875, 121.904296875, 94.130859375, 12.041015625, 4.218600273132324 ]
[ 25.751953125, 179.6484375, 120.9375, 94.921875, 12.12890625, 3.58890700340271 ]
3.066667
92
0
92
0
[ 26.806640625, 179.560546875, 121.904296875, 94.130859375, 11.865234375, 4.218600273132324 ]
[ 25.6640625, 179.6484375, 120.9375, 94.921875, 12.12890625, 3.58890700340271 ]
3.1
93
0
93
0
[ 26.279296875, 179.560546875, 121.81640625, 94.130859375, 11.77734375, 4.314477443695068 ]
[ 25.6640625, 179.6484375, 120.9375, 94.921875, 12.041015625, 3.670473098754883 ]
3.133333
94
0
94
0
[ 26.015625, 179.560546875, 121.640625, 94.130859375, 11.953125, 4.314477443695068 ]
[ 25.6640625, 179.6484375, 120.9375, 94.921875, 11.77734375, 3.670473098754883 ]
3.166667
95
0
95
0
[ 25.83984375, 179.560546875, 121.2890625, 94.21875, 12.041015625, 4.12272310256958 ]
[ 25.6640625, 179.6484375, 120.9375, 94.921875, 11.42578125, 3.670473098754883 ]
3.2
96
0
96
0
[ 25.751953125, 179.560546875, 120.9375, 94.306640625, 12.041015625, 4.12272310256958 ]
[ 25.576171875, 179.6484375, 120.9375, 94.921875, 11.337890625, 3.670473098754883 ]
3.233333
97
0
97
0
[ 25.6640625, 179.560546875, 120.76171875, 94.39453125, 12.3046875, 4.12272310256958 ]
[ 25.576171875, 179.6484375, 120.9375, 94.921875, 11.337890625, 3.670473098754883 ]
3.266667
98
0
98
0
[ 25.6640625, 179.560546875, 120.5859375, 94.39453125, 12.392578125, 4.026845455169678 ]
[ 25.576171875, 179.6484375, 120.9375, 94.921875, 11.337890625, 3.670473098754883 ]
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": 18,
    "total_frames": 6501,
    "total_tasks": 1,
    "total_videos": 36,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:18"
    },
    "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": [
                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": [
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                640,
                3
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            "names": [
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            "info": {
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        "observation.images.phone": {
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            "names": [
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            "info": {
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                "video.codec": "h264",
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                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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