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Datasets:
liuhuanjim013
/
so100_block

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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action
sequence
observation.state
sequence
timestamp
float32
0
16.9
frame_index
int64
0
508
episode_index
int64
0
150
index
int64
0
39.1k
task_index
int64
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[ -22.939453125, 191.953125, 175.166015625, 76.201171875, -0.52734375, 0.25795355439186096 ]
2.333333
70
0
70
0
[ -23.02734375, 192.48046875, 172.177734375, 77.255859375, -1.494140625, 0.25929126143455505 ]
[ -22.939453125, 191.953125, 175.166015625, 76.201171875, -0.52734375, 0.25795355439186096 ]
2.366667
71
0
71
0
[ -23.02734375, 192.48046875, 172.177734375, 77.255859375, -1.494140625, 0.25929126143455505 ]
[ -22.939453125, 191.953125, 175.166015625, 76.201171875, -0.52734375, 0.25795355439186096 ]
2.4
72
0
72
0
[ -23.02734375, 192.48046875, 172.177734375, 77.255859375, -1.494140625, 0.25929126143455505 ]
[ -22.939453125, 191.953125, 175.166015625, 76.201171875, -0.52734375, 0.25795355439186096 ]
2.433333
73
0
73
0
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[ -22.939453125, 191.953125, 175.166015625, 76.201171875, -0.52734375, 0.25795355439186096 ]
2.466667
74
0
74
0
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[ -22.939453125, 191.953125, 175.166015625, 76.201171875, -0.52734375, 0.25795355439186096 ]
2.5
75
0
75
0
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[ -22.939453125, 191.953125, 175.166015625, 76.201171875, -0.52734375, 0.25795355439186096 ]
2.533333
76
0
76
0
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[ -22.939453125, 191.953125, 175.166015625, 76.201171875, -0.52734375, 0.25795355439186096 ]
2.566667
77
0
77
0
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[ -22.939453125, 191.953125, 175.166015625, 76.201171875, -0.52734375, 0.25795355439186096 ]
2.6
78
0
78
0
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[ -22.939453125, 191.953125, 175.166015625, 76.201171875, -0.52734375, 0.25795355439186096 ]
2.633333
79
0
79
0
[ -23.02734375, 192.48046875, 172.177734375, 77.255859375, -1.494140625, 0.25929126143455505 ]
[ -22.939453125, 191.953125, 175.166015625, 76.201171875, -0.52734375, 0.25795355439186096 ]
2.666667
80
0
80
0
[ -23.02734375, 192.48046875, 172.177734375, 77.255859375, -1.494140625, 0.25929126143455505 ]
[ -22.939453125, 191.953125, 175.166015625, 76.201171875, -0.52734375, 0.25795355439186096 ]
2.7
81
0
81
0
[ -23.02734375, 192.48046875, 172.177734375, 77.255859375, -1.494140625, 0.25929126143455505 ]
[ -22.939453125, 191.953125, 175.166015625, 76.201171875, -0.52734375, 0.25795355439186096 ]
2.733333
82
0
82
0
[ -23.02734375, 192.48046875, 172.177734375, 77.255859375, -1.494140625, 0.25929126143455505 ]
[ -22.939453125, 191.953125, 175.166015625, 76.201171875, -0.52734375, 0.25795355439186096 ]
2.766667
83
0
83
0
[ -23.02734375, 192.48046875, 172.177734375, 77.255859375, -1.494140625, 0.25929126143455505 ]
[ -22.939453125, 191.953125, 175.166015625, 76.201171875, -0.52734375, 0.25795355439186096 ]
2.8
84
0
84
0
[ -23.02734375, 192.48046875, 172.177734375, 77.255859375, -1.494140625, 0.25929126143455505 ]
[ -22.939453125, 191.953125, 175.166015625, 76.201171875, -0.52734375, 0.25795355439186096 ]
2.833333
85
0
85
0
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[ -22.939453125, 191.953125, 175.166015625, 76.201171875, -0.52734375, 0.25795355439186096 ]
2.866667
86
0
86
0
[ -23.02734375, 192.48046875, 172.177734375, 77.255859375, -1.494140625, 0.25929126143455505 ]
[ -22.939453125, 191.953125, 175.166015625, 76.201171875, -0.52734375, 0.25795355439186096 ]
2.9
87
0
87
0
[ -23.02734375, 192.48046875, 172.177734375, 77.255859375, -1.494140625, 0.25929126143455505 ]
[ -22.939453125, 191.953125, 175.166015625, 76.201171875, -0.52734375, 0.25795355439186096 ]
2.933333
88
0
88
0
[ -23.02734375, 192.48046875, 172.177734375, 77.255859375, -1.494140625, 0.25929126143455505 ]
[ -22.939453125, 191.953125, 175.166015625, 76.201171875, -0.52734375, 0.25795355439186096 ]
2.966667
89
0
89
0
[ -22.939453125, 192.48046875, 172.177734375, 77.255859375, -1.494140625, 0.25929126143455505 ]
[ -22.939453125, 191.953125, 175.166015625, 76.201171875, -0.52734375, 0.25795355439186096 ]
3
90
0
90
0
[ -22.939453125, 192.48046875, 172.177734375, 77.255859375, -1.142578125, 0.43215212225914 ]
[ -22.939453125, 191.953125, 175.166015625, 76.201171875, -0.52734375, 0.25795355439186096 ]
3.033333
91
0
91
0
[ -21.884765625, 192.392578125, 172.177734375, 77.255859375, -0.17578125, 1.1235954761505127 ]
[ -22.939453125, 191.953125, 175.166015625, 76.201171875, -0.52734375, 0.25795355439186096 ]
3.066667
92
0
92
0
[ -20.390625, 192.392578125, 172.177734375, 77.16796875, 1.142578125, 1.901469349861145 ]
[ -22.8515625, 191.953125, 175.166015625, 76.201171875, -0.52734375, 0.25795355439186096 ]
3.1
93
0
93
0
[ -19.248046875, 192.392578125, 172.177734375, 77.16796875, 2.109375, 3.197925567626953 ]
[ -22.1484375, 191.953125, 175.166015625, 76.201171875, -0.52734375, 0.5159071087837219 ]
3.133333
94
0
94
0
[ -18.544921875, 192.392578125, 172.177734375, 77.255859375, 2.8125, 3.45721697807312 ]
[ -21.357421875, 191.865234375, 175.166015625, 76.201171875, -0.263671875, 0.5159071087837219 ]
3.166667
95
0
95
0
[ -18.10546875, 192.3046875, 172.177734375, 77.255859375, 3.076171875, 3.45721697807312 ]
[ -20.478515625, 191.865234375, 175.166015625, 76.201171875, 0.439453125, 1.289767861366272 ]
3.2
96
0
96
0
[ -18.369140625, 192.216796875, 172.265625, 77.16796875, 3.33984375, 4.321521282196045 ]
[ -19.6875, 191.865234375, 175.166015625, 76.201171875, 0.791015625, 1.8916594982147217 ]
3.233333
97
0
97
0
[ -18.6328125, 192.216796875, 172.265625, 77.16796875, 3.8671875, 8.988763809204102 ]
[ -18.984375, 191.865234375, 175.078125, 76.11328125, 1.40625, 2.321582078933716 ]
3.266667
98
0
98
0
[ -20.126953125, 192.216796875, 172.353515625, 77.080078125, 8.349609375, 14.693172454833984 ]
[ -18.369140625, 191.865234375, 174.990234375, 76.11328125, 1.7578125, 3.095442771911621 ]
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": 293,
    "total_tasks": 1,
    "total_videos": 2,
    "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": [
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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.top": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
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            "info": {
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                "video.height": 480,
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                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
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        },
        "observation.images.hand": {
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            "shape": [
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            "names": [
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                "width",
                "channels"
            ],
            "info": {
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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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                1
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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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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
apache-2.0
Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
39,096