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Datasets:
Cidoyi
/
so100_9

Tasks:
Robotics
Modalities:
Tabular
Time-series
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parquet
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< 1K
Tags:
LeRobot
so100
tutorial
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pandas
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action
sequence
observation.state
sequence
timestamp
float32
0
8.47
frame_index
int64
0
254
episode_index
int64
0
0
index
int64
0
254
task_index
int64
0
0
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[ -9.755859375, 166.2890625, 174.287109375, -27.94921875, 182.8125, 97.3367691040039 ]
2.4
72
0
72
0
[ -10.01953125, 161.455078125, 165.322265625, -30.5859375, 184.833984375, 96.69725036621094 ]
[ -9.4921875, 164.794921875, 173.3203125, -28.4765625, 182.724609375, 97.3367691040039 ]
2.433333
73
0
73
0
[ -10.1953125, 160.927734375, 164.267578125, -30.673828125, 184.5703125, 96.69725036621094 ]
[ -9.4921875, 163.65234375, 172.353515625, -28.828125, 182.724609375, 97.3367691040039 ]
2.466667
74
0
74
0
[ -10.1953125, 160.3125, 163.212890625, -30.673828125, 184.5703125, 96.69725036621094 ]
[ -9.755859375, 162.685546875, 171.298828125, -29.091796875, 182.63671875, 97.3367691040039 ]
2.5
75
0
75
0
[ -10.107421875, 159.873046875, 162.24609375, -30.673828125, 184.482421875, 96.69725036621094 ]
[ -9.84375, 161.89453125, 170.419921875, -29.267578125, 182.724609375, 97.3367691040039 ]
2.533333
76
0
76
0
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[ -10.01953125, 161.103515625, 169.453125, -29.443359375, 182.724609375, 97.3367691040039 ]
2.566667
77
0
77
0
[ -9.84375, 158.994140625, 161.103515625, -30.673828125, 184.482421875, 96.69725036621094 ]
[ -10.01953125, 160.48828125, 168.57421875, -29.443359375, 182.724609375, 97.3367691040039 ]
2.6
78
0
78
0
[ -9.931640625, 158.994140625, 161.19140625, -30.673828125, 184.482421875, 96.69725036621094 ]
[ -9.931640625, 159.873046875, 167.783203125, -29.443359375, 182.724609375, 97.3367691040039 ]
2.633333
79
0
79
0
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[ -9.931640625, 159.43359375, 167.16796875, -29.443359375, 182.724609375, 97.3367691040039 ]
2.666667
80
0
80
0
[ -12.216796875, 159.2578125, 162.24609375, -32.6953125, 182.373046875, 96.69725036621094 ]
[ -9.931640625, 159.169921875, 166.728515625, -29.443359375, 182.724609375, 97.3367691040039 ]
2.7
81
0
81
0
[ -14.0625, 157.939453125, 162.421875, -36.03515625, 180.87890625, 96.69725036621094 ]
[ -9.931640625, 159.169921875, 166.640625, -29.53125, 182.724609375, 97.3367691040039 ]
2.733333
82
0
82
0
[ -14.765625, 156.005859375, 162.59765625, -38.3203125, 179.912109375, 96.69725036621094 ]
[ -10.283203125, 159.08203125, 166.552734375, -30.41015625, 182.548828125, 97.3367691040039 ]
2.766667
83
0
83
0
[ -15.46875, 154.51171875, 162.685546875, -39.111328125, 179.12109375, 96.69725036621094 ]
[ -11.513671875, 158.466796875, 166.552734375, -31.9921875, 181.93359375, 97.3367691040039 ]
2.8
84
0
84
0
[ -16.435546875, 153.28125, 162.59765625, -39.638671875, 178.2421875, 96.69725036621094 ]
[ -13.271484375, 157.412109375, 166.552734375, -33.92578125, 181.142578125, 97.3367691040039 ]
2.833333
85
0
85
0
[ -16.962890625, 152.2265625, 162.59765625, -40.078125, 176.748046875, 96.69725036621094 ]
[ -14.326171875, 156.005859375, 166.552734375, -35.68359375, 180.615234375, 97.3367691040039 ]
2.866667
86
0
86
0
[ -16.962890625, 150.64453125, 162.59765625, -41.30859375, 175.341796875, 96.69725036621094 ]
[ -14.94140625, 154.51171875, 166.552734375, -37.001953125, 179.47265625, 97.3367691040039 ]
2.9
87
0
87
0
[ -16.34765625, 149.4140625, 162.333984375, -42.275390625, 174.55078125, 96.69725036621094 ]
[ -15.46875, 153.369140625, 166.552734375, -37.79296875, 178.330078125, 97.3367691040039 ]
2.933333
88
0
88
0
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[ -16.083984375, 152.2265625, 166.552734375, -38.84765625, 177.099609375, 97.3367691040039 ]
2.966667
89
0
89
0
[ -15.1171875, 146.6015625, 161.19140625, -45.17578125, 174.111328125, 96.69725036621094 ]
[ -16.5234375, 150.908203125, 166.552734375, -39.814453125, 176.1328125, 97.3367691040039 ]
3
90
0
90
0
[ -14.677734375, 144.66796875, 160.224609375, -47.021484375, 173.935546875, 96.69725036621094 ]
[ -15.908203125, 148.974609375, 166.46484375, -41.572265625, 175.166015625, 97.3367691040039 ]
3.033333
91
0
91
0
[ -14.58984375, 143.701171875, 159.697265625, -47.724609375, 173.935546875, 96.69725036621094 ]
[ -15.1171875, 147.568359375, 166.201171875, -42.71484375, 174.7265625, 97.3367691040039 ]
3.066667
92
0
92
0
[ -14.58984375, 143.0859375, 159.521484375, -48.076171875, 173.935546875, 96.69725036621094 ]
[ -14.94140625, 146.42578125, 165.76171875, -43.857421875, 174.462890625, 97.3367691040039 ]
3.1
93
0
93
0
[ -14.94140625, 142.470703125, 159.43359375, -48.33984375, 173.935546875, 96.69725036621094 ]
[ -15.029296875, 145.01953125, 165.146484375, -45.087890625, 174.287109375, 97.3367691040039 ]
3.133333
94
0
94
0
[ -15.8203125, 141.416015625, 159.43359375, -48.69140625, 173.935546875, 96.69725036621094 ]
[ -15.205078125, 143.173828125, 164.1796875, -46.40625, 174.19921875, 97.3367691040039 ]
3.166667
95
0
95
0
[ -16.171875, 140.80078125, 159.169921875, -48.955078125, 173.935546875, 96.69725036621094 ]
[ -15.029296875, 142.646484375, 164.00390625, -46.7578125, 174.19921875, 97.3367691040039 ]
3.2
96
0
96
0
[ -16.34765625, 140.009765625, 158.90625, -49.5703125, 174.19921875, 96.69725036621094 ]
[ -15.029296875, 141.943359375, 164.00390625, -47.197265625, 174.19921875, 97.3367691040039 ]
3.233333
97
0
97
0
[ -16.34765625, 139.21875, 158.73046875, -50.2734375, 174.462890625, 96.69725036621094 ]
[ -15.380859375, 141.240234375, 163.916015625, -47.4609375, 174.19921875, 97.3367691040039 ]
3.266667
98
0
98
0
[ -15.99609375, 137.548828125, 158.642578125, -52.646484375, 175.166015625, 96.69725036621094 ]
[ -15.908203125, 140.44921875, 163.916015625, -47.900390625, 174.19921875, 97.3367691040039 ]
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": 255,
    "total_tasks": 1,
    "total_videos": 1,
    "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": [
                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.keyboard_camera": {
            "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
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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