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Datasets:
sihyun77
/
suho_angel

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
xet
 Community
1
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action
sequence
observation.state
sequence
timestamp
float32
0
19.4
frame_index
int64
0
583
episode_index
int64
0
49
index
int64
0
29.1k
task_index
int64
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[ -18.6328125, 139.5703125, 68.818359375, -55.546875, -91.40625, 17.810117721557617 ]
2.333333
70
0
70
0
[ -21.62109375, 140.2734375, 72.509765625, -54.31640625, -91.318359375, 18.45293617248535 ]
[ -18.6328125, 139.74609375, 69.169921875, -55.37109375, -91.40625, 17.810117721557617 ]
2.366667
71
0
71
0
[ -21.708984375, 140.44921875, 72.861328125, -54.31640625, -91.23046875, 18.45293617248535 ]
[ -18.6328125, 139.74609375, 69.43359375, -55.37109375, -91.40625, 17.810117721557617 ]
2.4
72
0
72
0
[ -21.796875, 140.537109375, 73.037109375, -54.31640625, -91.0546875, 18.45293617248535 ]
[ -18.6328125, 139.74609375, 69.521484375, -55.37109375, -91.40625, 17.810117721557617 ]
2.433333
73
0
73
0
[ -21.884765625, 140.625, 73.30078125, -54.31640625, -91.0546875, 18.45293617248535 ]
[ -18.6328125, 139.74609375, 69.521484375, -55.37109375, -91.40625, 17.810117721557617 ]
2.466667
74
0
74
0
[ -21.97265625, 140.80078125, 73.4765625, -54.31640625, -91.0546875, 18.45293617248535 ]
[ -18.720703125, 139.833984375, 69.78515625, -55.37109375, -91.40625, 17.810117721557617 ]
2.5
75
0
75
0
[ -21.97265625, 140.80078125, 73.564453125, -54.140625, -90.966796875, 18.45293617248535 ]
[ -18.720703125, 139.833984375, 70.048828125, -55.37109375, -91.40625, 17.810117721557617 ]
2.533333
76
0
76
0
[ -21.97265625, 140.80078125, 73.564453125, -53.876953125, -90.87890625, 18.45293617248535 ]
[ -18.720703125, 139.833984375, 70.13671875, -55.37109375, -91.40625, 17.810117721557617 ]
2.566667
77
0
77
0
[ -22.060546875, 140.712890625, 73.564453125, -53.525390625, -90.87890625, 18.45293617248535 ]
[ -18.720703125, 139.833984375, 70.13671875, -55.283203125, -91.0546875, 17.810117721557617 ]
2.6
78
0
78
0
[ -22.1484375, 140.712890625, 73.65234375, -53.173828125, -90.791015625, 18.45293617248535 ]
[ -18.720703125, 139.833984375, 70.224609375, -54.84375, -90.791015625, 17.810117721557617 ]
2.633333
79
0
79
0
[ -22.1484375, 140.712890625, 73.828125, -53.173828125, -90.791015625, 18.546133041381836 ]
[ -18.984375, 139.833984375, 70.3125, -54.580078125, -90.615234375, 17.810117721557617 ]
2.666667
80
0
80
0
[ -22.32421875, 140.712890625, 73.916015625, -52.998046875, -90.791015625, 18.546133041381836 ]
[ -19.16015625, 139.833984375, 70.48828125, -54.404296875, -90.52734375, 17.810117721557617 ]
2.7
81
0
81
0
[ -22.32421875, 140.712890625, 73.916015625, -52.998046875, -90.791015625, 18.546133041381836 ]
[ -19.16015625, 139.833984375, 70.6640625, -54.228515625, -90.52734375, 17.810117721557617 ]
2.733333
82
0
82
0
[ -22.32421875, 140.712890625, 73.916015625, -52.998046875, -90.791015625, 18.546133041381836 ]
[ -19.16015625, 139.833984375, 70.751953125, -53.876953125, -90.52734375, 17.810117721557617 ]
2.766667
83
0
83
0
[ -22.32421875, 140.712890625, 73.916015625, -52.998046875, -90.791015625, 18.546133041381836 ]
[ -19.16015625, 139.833984375, 70.751953125, -53.61328125, -90.52734375, 17.810117721557617 ]
2.8
84
0
84
0
[ -22.32421875, 140.712890625, 73.916015625, -52.998046875, -90.791015625, 18.546133041381836 ]
[ -19.16015625, 139.833984375, 70.751953125, -53.4375, -90.52734375, 17.810117721557617 ]
2.833333
85
0
85
0
[ -22.32421875, 140.712890625, 73.916015625, -52.998046875, -90.791015625, 18.546133041381836 ]
[ -19.16015625, 139.833984375, 70.751953125, -53.4375, -90.52734375, 17.810117721557617 ]
2.866667
86
0
86
0
[ -22.32421875, 140.712890625, 73.916015625, -52.998046875, -90.87890625, 18.546133041381836 ]
[ -19.16015625, 139.833984375, 70.751953125, -53.4375, -90.52734375, 17.810117721557617 ]
2.9
87
0
87
0
[ -22.32421875, 140.712890625, 73.916015625, -52.998046875, -90.966796875, 18.546133041381836 ]
[ -19.16015625, 139.833984375, 70.751953125, -53.4375, -90.52734375, 17.810117721557617 ]
2.933333
88
0
88
0
[ -22.32421875, 140.712890625, 73.916015625, -52.998046875, -90.966796875, 18.546133041381836 ]
[ -19.16015625, 139.833984375, 70.751953125, -53.4375, -90.52734375, 17.810117721557617 ]
2.966667
89
0
89
0
[ -22.32421875, 140.712890625, 73.916015625, -52.998046875, -90.966796875, 18.546133041381836 ]
[ -19.16015625, 139.833984375, 70.751953125, -53.4375, -90.52734375, 17.810117721557617 ]
3
90
0
90
0
[ -22.32421875, 140.712890625, 73.916015625, -52.998046875, -90.87890625, 18.546133041381836 ]
[ -19.16015625, 139.833984375, 70.751953125, -53.4375, -90.52734375, 17.810117721557617 ]
3.033333
91
0
91
0
[ -22.32421875, 140.80078125, 73.916015625, -52.998046875, -90.87890625, 18.546133041381836 ]
[ -19.16015625, 139.833984375, 70.751953125, -53.4375, -90.52734375, 17.810117721557617 ]
3.066667
92
0
92
0
[ -22.32421875, 140.80078125, 74.00390625, -52.998046875, -90.966796875, 18.63932991027832 ]
[ -19.16015625, 139.833984375, 70.751953125, -53.4375, -90.52734375, 17.810117721557617 ]
3.1
93
0
93
0
[ -22.412109375, 140.712890625, 74.00390625, -52.646484375, -91.0546875, 18.63932991027832 ]
[ -19.16015625, 139.833984375, 70.83984375, -53.4375, -90.52734375, 17.810117721557617 ]
3.133333
94
0
94
0
[ -22.412109375, 140.712890625, 74.00390625, -52.294921875, -91.0546875, 18.732524871826172 ]
[ -19.16015625, 139.833984375, 71.19140625, -53.4375, -90.52734375, 17.810117721557617 ]
3.166667
95
0
95
0
[ -22.412109375, 140.625, 74.00390625, -52.20703125, -91.0546875, 18.732524871826172 ]
[ -19.16015625, 139.833984375, 71.455078125, -53.26171875, -90.703125, 17.810117721557617 ]
3.2
96
0
96
0
[ -22.412109375, 140.625, 74.00390625, -52.20703125, -91.0546875, 18.732524871826172 ]
[ -19.16015625, 139.833984375, 71.54296875, -53.173828125, -90.87890625, 17.810117721557617 ]
3.233333
97
0
97
0
[ -22.5, 140.625, 74.091796875, -52.20703125, -90.966796875, 18.732524871826172 ]
[ -19.248046875, 139.833984375, 71.54296875, -53.0859375, -90.87890625, 17.810117721557617 ]
3.266667
98
0
98
0
[ -22.587890625, 140.712890625, 74.267578125, -52.20703125, -90.966796875, 18.732524871826172 ]
[ -19.248046875, 139.833984375, 71.54296875, -53.0859375, -90.87890625, 17.810117721557617 ]
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": 50,
    "total_frames": 29083,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.phone": {
            "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": "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": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
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            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

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