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Datasets:
hkphoooey
/
so100_test

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
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action
sequence
observation.state
sequence
timestamp
float32
0
14.9
frame_index
int64
0
448
episode_index
int64
0
49
index
int64
0
13.6k
task_index
int64
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[ 1.669921875, 86.8359375, 105.732421875, 73.30078125, -6.50390625, 23.613086700439453 ]
2.4
72
0
72
0
[ 2.109375, 91.845703125, 105.99609375, 73.4765625, -7.20703125, 24.656278610229492 ]
[ 1.669921875, 86.8359375, 105.732421875, 73.30078125, -6.591796875, 23.68421173095703 ]
2.433333
73
0
73
0
[ 1.93359375, 91.93359375, 105.99609375, 73.4765625, -7.20703125, 24.656278610229492 ]
[ 1.669921875, 86.8359375, 105.732421875, 73.30078125, -6.591796875, 23.755334854125977 ]
2.466667
74
0
74
0
[ 1.7578125, 92.021484375, 105.99609375, 73.4765625, -7.294921875, 24.656278610229492 ]
[ 1.669921875, 86.8359375, 105.732421875, 73.30078125, -6.50390625, 23.755334854125977 ]
2.5
75
0
75
0
[ 1.494140625, 92.109375, 105.99609375, 73.4765625, -7.3828125, 24.656278610229492 ]
[ 1.669921875, 86.8359375, 105.732421875, 73.388671875, -6.50390625, 23.755334854125977 ]
2.533333
76
0
76
0
[ 1.23046875, 92.373046875, 105.99609375, 73.4765625, -7.470703125, 24.656278610229492 ]
[ 1.669921875, 87.099609375, 105.732421875, 73.388671875, -6.50390625, 23.755334854125977 ]
2.566667
77
0
77
0
[ 0.966796875, 92.724609375, 105.99609375, 73.4765625, -7.646484375, 24.656278610229492 ]
[ 1.58203125, 87.451171875, 105.732421875, 73.212890625, -6.50390625, 23.826457977294922 ]
2.6
78
0
78
0
[ 0.703125, 92.98828125, 105.99609375, 73.388671875, -7.822265625, 24.656278610229492 ]
[ 1.494140625, 87.802734375, 105.732421875, 73.212890625, -6.50390625, 23.826457977294922 ]
2.633333
79
0
79
0
[ 0.3515625, 93.1640625, 105.99609375, 73.212890625, -7.822265625, 24.564619064331055 ]
[ 1.23046875, 87.978515625, 105.732421875, 73.212890625, -6.416015625, 23.826457977294922 ]
2.666667
80
0
80
0
[ 0.17578125, 93.33984375, 106.171875, 72.861328125, -7.822265625, 24.564619064331055 ]
[ 0.791015625, 88.154296875, 105.732421875, 73.212890625, -6.416015625, 23.826457977294922 ]
2.7
81
0
81
0
[ -0.17578125, 93.603515625, 106.69921875, 72.158203125, -7.91015625, 24.564619064331055 ]
[ 0.439453125, 88.505859375, 105.732421875, 73.212890625, -6.767578125, 23.826457977294922 ]
2.733333
82
0
82
0
[ -0.615234375, 94.130859375, 107.666015625, 71.015625, -7.91015625, 24.564619064331055 ]
[ 0.3515625, 88.857421875, 105.99609375, 72.94921875, -6.85546875, 23.826457977294922 ]
2.766667
83
0
83
0
[ -1.142578125, 95.009765625, 109.248046875, 69.521484375, -7.91015625, 24.564619064331055 ]
[ 0.3515625, 89.12109375, 106.5234375, 72.59765625, -6.85546875, 23.826457977294922 ]
2.8
84
0
84
0
[ -1.669921875, 96.328125, 111.4453125, 67.32421875, -7.822265625, 24.47296142578125 ]
[ 0.3515625, 89.560546875, 107.2265625, 71.89453125, -6.6796875, 23.826457977294922 ]
2.833333
85
0
85
0
[ -2.28515625, 97.998046875, 113.818359375, 64.951171875, -7.55859375, 24.381301879882812 ]
[ 0.087890625, 90.3515625, 108.369140625, 70.83984375, -6.416015625, 23.826457977294922 ]
2.866667
86
0
86
0
[ -2.900390625, 99.66796875, 116.455078125, 62.40234375, -7.294921875, 24.289642333984375 ]
[ -0.3515625, 91.23046875, 109.951171875, 69.43359375, -6.50390625, 23.826457977294922 ]
2.9
87
0
87
0
[ -3.515625, 101.25, 118.916015625, 59.765625, -6.943359375, 24.289642333984375 ]
[ -0.791015625, 92.109375, 111.708984375, 67.67578125, -6.767578125, 23.826457977294922 ]
2.933333
88
0
88
0
[ -4.21875, 102.744140625, 121.376953125, 57.3046875, -6.50390625, 24.289642333984375 ]
[ -1.142578125, 93.076171875, 113.642578125, 65.7421875, -6.591796875, 23.826457977294922 ]
2.966667
89
0
89
0
[ -4.833984375, 103.88671875, 123.486328125, 54.931640625, -6.064453125, 24.381301879882812 ]
[ -1.40625, 93.955078125, 115.3125, 64.423828125, -6.767578125, 23.826457977294922 ]
3
90
0
90
0
[ -5.625, 104.501953125, 124.62890625, 53.701171875, -5.625, 24.564619064331055 ]
[ -1.93359375, 95.09765625, 116.806640625, 62.9296875, -6.50390625, 23.826457977294922 ]
3.033333
91
0
91
0
[ -6.328125, 105.29296875, 125.859375, 52.470703125, -5.2734375, 24.74793815612793 ]
[ -2.548828125, 96.6796875, 119.00390625, 60.732421875, -5.9765625, 23.826457977294922 ]
3.066667
92
0
92
0
[ -7.03125, 106.34765625, 127.177734375, 51.15234375, -5.09765625, 24.931257247924805 ]
[ -3.427734375, 98.26171875, 121.46484375, 58.095703125, -6.240234375, 23.826457977294922 ]
3.1
93
0
93
0
[ -7.734375, 107.578125, 128.671875, 49.482421875, -5.09765625, 25.02291488647461 ]
[ -4.306640625, 99.580078125, 123.486328125, 55.8984375, -5.888671875, 23.826457977294922 ]
3.133333
94
0
94
0
[ -8.61328125, 108.984375, 129.990234375, 48.1640625, -5.09765625, 25.20623207092285 ]
[ -5.185546875, 100.72265625, 125.244140625, 54.228515625, -5.44921875, 23.826457977294922 ]
3.166667
95
0
95
0
[ -9.66796875, 110.390625, 131.1328125, 47.197265625, -5.09765625, 25.66452980041504 ]
[ -6.064453125, 101.865234375, 127.08984375, 52.55859375, -5.2734375, 24.11095428466797 ]
3.2
96
0
96
0
[ -10.634765625, 111.708984375, 132.099609375, 46.58203125, -5.009765625, 26.306140899658203 ]
[ -6.6796875, 103.0078125, 128.49609375, 50.9765625, -5.185546875, 24.466571807861328 ]
3.233333
97
0
97
0
[ -11.6015625, 112.5, 132.451171875, 46.40625, -4.833984375, 26.67277717590332 ]
[ -7.294921875, 104.326171875, 129.90234375, 49.658203125, -5.09765625, 24.60881996154785 ]
3.266667
98
0
98
0
[ -12.83203125, 112.412109375, 132.01171875, 46.93359375, -4.74609375, 27.497709274291992 ]
[ -8.0859375, 105.732421875, 131.396484375, 48.515625, -4.921875, 25.03556251525879 ]
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": 1794,
    "total_tasks": 1,
    "total_videos": 2,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
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                640,
                3
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            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
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                "video.channels": 3,
                "video.codec": "av1",
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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": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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