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Datasets:
dongseon
/
so100_test11

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
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13.8
frame_index
int64
0
414
episode_index
int64
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19
index
int64
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7.95k
task_index
int64
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[ 3.251953125, 188.7890625, -21.26953125, 81.03515625, 78.57421875, 6.867924690246582 ]
2.333333
70
0
70
0
[ 4.5703125, 180, -190.546875, 69.78515625, 74.970703125, 4.139228820800781 ]
[ 3.251953125, 188.701171875, -21.26953125, 80.068359375, 80.68359375, 7.5471696853637695 ]
2.366667
71
0
71
0
[ 4.482421875, 175.166015625, -194.150390625, 64.951171875, 72.685546875, 2.351834535598755 ]
[ 3.251953125, 188.61328125, -21.26953125, 77.87109375, 82.08984375, 7.169811248779297 ]
2.4
72
0
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0
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2.433333
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0
73
0
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2.466667
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0
74
0
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2.5
75
0
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0
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2.533333
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2.566667
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0
77
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2.6
78
0
78
0
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2.633333
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0
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0
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2.666667
80
0
80
0
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2.7
81
0
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0
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2.733333
82
0
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2.766667
83
0
83
0
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[ 9.228515625, 150.1171875, -21.26953125, 77.255859375, 69.873046875, 5.735848903656006 ]
2.8
84
0
84
0
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[ 10.283203125, 145.1953125, -21.26953125, 78.75, 68.642578125, 5.962264060974121 ]
2.833333
85
0
85
0
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[ 11.162109375, 140.625, -21.26953125, 79.8046875, 67.236328125, 6.188679218292236 ]
2.866667
86
0
86
0
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[ 12.041015625, 135.52734375, -21.26953125, 80.859375, 65.7421875, 6.415094375610352 ]
2.9
87
0
87
0
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[ 12.568359375, 130.25390625, -21.26953125, 81.826171875, 63.6328125, 6.566037654876709 ]
2.933333
88
0
88
0
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[ 12.65625, 125.15625, -21.26953125, 82.705078125, 61.69921875, 6.566037654876709 ]
2.966667
89
0
89
0
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[ 12.568359375, 119.1796875, -21.26953125, 83.49609375, 59.853515625, 6.566037654876709 ]
3
90
0
90
0
[ 12.48046875, 91.142578125, 42.01171875, 84.7265625, 61.171875, 8.090310096740723 ]
[ 12.48046875, 112.8515625, -21.26953125, 84.0234375, 59.4140625, 6.566037654876709 ]
3.033333
91
0
91
0
[ 13.447265625, 94.833984375, 49.5703125, 85.25390625, 62.9296875, 8.090310096740723 ]
[ 12.48046875, 107.05078125, -21.26953125, 84.287109375, 59.4140625, 6.792452812194824 ]
3.066667
92
0
92
0
[ 14.765625, 101.77734375, 58.271484375, 88.76953125, 62.314453125, 8.372530937194824 ]
[ 12.216796875, 100.634765625, -21.26953125, 84.814453125, 60.556640625, 7.320754528045654 ]
3.1
93
0
93
0
[ 15.46875, 107.578125, 61.875, 95.80078125, 63.6328125, 8.560677528381348 ]
[ 12.919921875, 97.822265625, -20.7421875, 86.1328125, 61.5234375, 7.622641563415527 ]
3.133333
94
0
94
0
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[ 13.53515625, 97.294921875, -17.2265625, 88.857421875, 61.787109375, 7.924528121948242 ]
3.166667
95
0
95
0
[ 14.94140625, 119.091796875, 63.017578125, 108.80859375, 63.017578125, 9.21919059753418 ]
[ 14.23828125, 99.404296875, -11.513671875, 92.98828125, 62.666015625, 8.226414680480957 ]
3.2
96
0
96
0
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[ 15.029296875, 103.18359375, -6.240234375, 97.734375, 63.6328125, 8.377358436584473 ]
3.233333
97
0
97
0
[ 14.853515625, 127.529296875, 69.873046875, 108.720703125, 63.193359375, 9.595484733581543 ]
[ 15.1171875, 108.28125, 2.28515625, 102.48046875, 64.072265625, 8.754716873168945 ]
3.266667
98
0
98
0
[ 14.94140625, 129.111328125, 75.322265625, 107.666015625, 64.3359375, 9.595484733581543 ]
[ 15.029296875, 112.1484375, 8.4375, 104.765625, 63.45703125, 9.05660343170166 ]
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": 20,
    "total_frames": 7949,
    "total_tasks": 1,
    "total_videos": 20,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:20"
    },
    "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
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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": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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                1
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            "names": null
        },
        "episode_index": {
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            "names": null
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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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