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BiancoBeni
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so100_test2

Tasks:
Robotics
Modalities:
Tabular
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Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
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action
sequence
observation.state
sequence
timestamp
float32
0
21.2
frame_index
int64
0
635
episode_index
int64
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1
index
int64
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1.27k
task_index
int64
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72
0
72
0
[ 90.52734375, 49.21875, 25.13671875, 87.5390625, 15.029296875, 0.9140768051147461 ]
[ 90.17578125, 53.173828125, 37.705078125, 79.189453125, 16.69921875, 0.7042253613471985 ]
2.433333
73
0
73
0
[ 90.17578125, 47.4609375, 22.412109375, 88.9453125, 14.326171875, 0.9140768051147461 ]
[ 89.82421875, 51.240234375, 34.541015625, 81.73828125, 15.99609375, 0.7042253613471985 ]
2.466667
74
0
74
0
[ 89.912109375, 46.23046875, 20.56640625, 89.736328125, 14.0625, 0.9140768051147461 ]
[ 89.47265625, 49.39453125, 31.11328125, 84.111328125, 15.556640625, 0.7042253613471985 ]
2.5
75
0
75
0
[ 89.560546875, 45.17578125, 19.51171875, 90.087890625, 13.88671875, 0.9140768051147461 ]
[ 89.384765625, 47.548828125, 27.94921875, 85.869140625, 14.94140625, 0.7042253613471985 ]
2.533333
76
0
76
0
[ 89.384765625, 44.296875, 18.896484375, 90.087890625, 13.623046875, 0.9140768051147461 ]
[ 89.384765625, 46.142578125, 25.400390625, 87.099609375, 14.501953125, 0.7042253613471985 ]
2.566667
77
0
77
0
[ 88.9453125, 43.505859375, 18.896484375, 89.912109375, 13.88671875, 0.9140768051147461 ]
[ 89.47265625, 45, 23.5546875, 88.330078125, 13.88671875, 0.7042253613471985 ]
2.6
78
0
78
0
[ 88.59375, 42.71484375, 18.896484375, 89.912109375, 14.0625, 0.9140768051147461 ]
[ 89.560546875, 43.9453125, 21.97265625, 88.76953125, 13.53515625, 0.7042253613471985 ]
2.633333
79
0
79
0
[ 88.330078125, 41.748046875, 18.80859375, 89.560546875, 13.88671875, 0.9140768051147461 ]
[ 89.384765625, 42.890625, 21.09375, 88.681640625, 13.447265625, 0.7042253613471985 ]
2.666667
80
0
80
0
[ 88.154296875, 40.78125, 18.80859375, 89.12109375, 13.7109375, 0.9140768051147461 ]
[ 89.12109375, 41.8359375, 20.7421875, 88.76953125, 13.623046875, 0.7042253613471985 ]
2.7
81
0
81
0
[ 88.06640625, 39.990234375, 18.80859375, 89.033203125, 13.7109375, 1.1882997751235962 ]
[ 88.59375, 40.693359375, 20.56640625, 88.76953125, 13.359375, 0.7042253613471985 ]
2.733333
82
0
82
0
[ 87.978515625, 39.19921875, 18.80859375, 89.033203125, 13.53515625, 1.6453381776809692 ]
[ 88.2421875, 39.638671875, 20.390625, 88.76953125, 13.18359375, 0.7042253613471985 ]
2.766667
83
0
83
0
[ 87.890625, 38.49609375, 18.984375, 89.033203125, 13.53515625, 1.736745834350586 ]
[ 88.2421875, 38.671875, 20.390625, 88.76953125, 13.18359375, 0.845070481300354 ]
2.8
84
0
84
0
[ 87.71484375, 38.056640625, 19.423828125, 89.033203125, 13.623046875, 2.2851920127868652 ]
[ 88.2421875, 38.232421875, 20.390625, 88.76953125, 13.18359375, 0.9154929518699646 ]
2.833333
85
0
85
0
[ 87.626953125, 37.79296875, 20.0390625, 89.12109375, 13.798828125, 2.4680073261260986 ]
[ 88.2421875, 37.705078125, 20.390625, 88.76953125, 13.18359375, 0.9154929518699646 ]
2.866667
86
0
86
0
[ 87.451171875, 37.705078125, 20.830078125, 89.12109375, 13.88671875, 2.4680073261260986 ]
[ 87.978515625, 37.44140625, 20.390625, 88.76953125, 13.18359375, 1.3380281925201416 ]
2.9
87
0
87
0
[ 87.36328125, 37.6171875, 21.357421875, 89.12109375, 13.88671875, 2.4680073261260986 ]
[ 87.5390625, 36.73828125, 20.478515625, 88.76953125, 13.18359375, 1.5492957830429077 ]
2.933333
88
0
88
0
[ 87.36328125, 37.6171875, 21.884765625, 89.12109375, 13.88671875, 2.4680073261260986 ]
[ 87.1875, 36.38671875, 20.654296875, 88.76953125, 13.18359375, 1.690140962600708 ]
2.966667
89
0
89
0
[ 87.36328125, 37.6171875, 22.412109375, 89.12109375, 13.974609375, 2.4680073261260986 ]
[ 87.099609375, 36.38671875, 21.09375, 88.76953125, 13.18359375, 1.7605634927749634 ]
3
90
0
90
0
[ 87.275390625, 37.880859375, 23.115234375, 89.208984375, 14.23828125, 2.4680073261260986 ]
[ 87.1875, 36.38671875, 21.181640625, 88.76953125, 13.18359375, 1.8309859037399292 ]
3.033333
91
0
91
0
[ 87.275390625, 38.49609375, 24.345703125, 88.9453125, 14.58984375, 2.4680073261260986 ]
[ 87.451171875, 36.474609375, 21.796875, 88.76953125, 13.18359375, 1.8309859037399292 ]
3.066667
92
0
92
0
[ 87.275390625, 39.375, 26.015625, 88.2421875, 14.853515625, 2.4680073261260986 ]
[ 87.626953125, 36.474609375, 22.67578125, 88.76953125, 13.447265625, 1.8309859037399292 ]
3.1
93
0
93
0
[ 87.275390625, 40.693359375, 28.212890625, 87.36328125, 14.853515625, 2.4680073261260986 ]
[ 87.71484375, 36.38671875, 23.73046875, 88.505859375, 13.623046875, 1.8309859037399292 ]
3.133333
94
0
94
0
[ 87.275390625, 42.01171875, 30.5859375, 86.1328125, 14.94140625, 2.4680073261260986 ]
[ 87.71484375, 36.38671875, 25.13671875, 88.330078125, 13.623046875, 1.8309859037399292 ]
3.166667
95
0
95
0
[ 87.36328125, 43.59375, 33.3984375, 84.90234375, 14.94140625, 2.4680073261260986 ]
[ 87.5390625, 36.73828125, 26.806640625, 87.626953125, 13.623046875, 1.8309859037399292 ]
3.2
96
0
96
0
[ 87.36328125, 45.17578125, 36.474609375, 83.49609375, 15.1171875, 2.4680073261260986 ]
[ 87.36328125, 37.44140625, 28.740234375, 86.8359375, 13.623046875, 1.8309859037399292 ]
3.233333
97
0
97
0
[ 87.36328125, 46.7578125, 39.638671875, 81.826171875, 15.1171875, 2.4680073261260986 ]
[ 87.275390625, 38.3203125, 30.849609375, 85.60546875, 13.623046875, 1.8309859037399292 ]
3.266667
98
0
98
0
[ 87.36328125, 48.076171875, 42.1875, 80.5078125, 15.29296875, 2.4680073261260986 ]
[ 87.275390625, 39.638671875, 33.3984375, 84.287109375, 13.88671875, 1.8309859037399292 ]
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": 2,
    "total_frames": 1271,
    "total_tasks": 1,
    "total_videos": 4,
    "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": [
                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": {
            "dtype": "int64",
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                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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