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Datasets:
therarelab
/
so100_pick_place

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
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
15.1
frame_index
int64
0
454
episode_index
int64
0
14
index
int64
0
6.94k
task_index
int64
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[ -26.279296875, 99.052734375, 117.509765625, 43.857421875, 167.87109375, 39.144737243652344 ]
2.433333
73
0
73
0
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2.466667
74
0
74
0
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2.5
75
0
75
0
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2.533333
76
0
76
0
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2.566667
77
0
77
0
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2.6
78
0
78
0
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2.633333
79
0
79
0
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2.666667
80
0
80
0
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[ -26.279296875, 97.998046875, 117.509765625, 43.857421875, 167.51953125, 17.43421173095703 ]
2.7
81
0
81
0
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[ -26.3671875, 97.998046875, 117.509765625, 43.857421875, 167.34375, 12.664472579956055 ]
2.733333
82
0
82
0
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2.766667
83
0
83
0
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2.8
84
0
84
0
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2.833333
85
0
85
0
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2.866667
86
0
86
0
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2.9
87
0
87
0
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2.933333
88
0
88
0
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2.966667
89
0
89
0
[ -28.125, 100.986328125, 116.982421875, 45.17578125, 166.025390625, -1.0452961921691895 ]
[ -27.0703125, 97.998046875, 117.509765625, 44.033203125, 165.673828125, 1.644736886024475 ]
3
90
0
90
0
[ -28.125, 101.25, 116.71875, 45.703125, 165.9375, -1.0452961921691895 ]
[ -27.158203125, 97.998046875, 117.509765625, 44.033203125, 165.76171875, 1.644736886024475 ]
3.033333
91
0
91
0
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[ -27.333984375, 97.998046875, 117.509765625, 44.208984375, 166.11328125, 1.644736886024475 ]
3.066667
92
0
92
0
[ -28.037109375, 102.041015625, 115.927734375, 47.63671875, 165.9375, -1.0452961921691895 ]
[ -27.333984375, 97.998046875, 117.509765625, 44.560546875, 165.5859375, 1.644736886024475 ]
3.1
93
0
93
0
[ -27.94921875, 102.568359375, 115.13671875, 49.04296875, 165.849609375, -1.0452961921691895 ]
[ -27.421875, 97.998046875, 117.509765625, 44.736328125, 164.970703125, 1.644736886024475 ]
3.133333
94
0
94
0
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[ -27.421875, 97.998046875, 117.509765625, 45.3515625, 165.322265625, 1.644736886024475 ]
3.166667
95
0
95
0
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[ -27.421875, 98.0859375, 117.509765625, 46.318359375, 165.234375, 1.644736886024475 ]
3.2
96
0
96
0
[ -27.421875, 104.0625, 111.708984375, 54.052734375, 165.234375, -1.0452961921691895 ]
[ -27.24609375, 98.349609375, 117.24609375, 47.63671875, 164.970703125, 1.644736886024475 ]
3.233333
97
0
97
0
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[ -27.24609375, 98.525390625, 116.71875, 49.482421875, 165.05859375, 1.644736886024475 ]
3.266667
98
0
98
0
[ -26.89453125, 104.853515625, 108.369140625, 57.919921875, 164.970703125, -1.0452961921691895 ]
[ -27.0703125, 98.525390625, 116.103515625, 51.240234375, 164.970703125, 1.644736886024475 ]
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": 11,
    "total_frames": 3866,
    "total_tasks": 1,
    "total_videos": 22,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:11"
    },
    "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": {
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            "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
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            "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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            "names": [
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        "observation.images.phone": {
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            "names": [
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            "info": {
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                "video.codec": "av1",
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                "has_audio": false
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        },
        "timestamp": {
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            "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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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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