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Datasets:
Congying1112
/
so100_switch_with_onhand_camera

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
xet
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action
sequence
observation.state
sequence
timestamp
float32
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19.7
frame_index
int64
0
592
episode_index
int64
0
9
index
int64
0
5.92k
task_index
int64
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2.333333
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0
70
0
[ 3.69140625, 188.876953125, 177.978515625, 74.70703125, -104.0625, 0.43383947014808655 ]
[ 2.63671875, 188.701171875, 178.154296875, 76.201171875, -103.447265625, 0.5076141953468323 ]
2.366667
71
0
71
0
[ 4.21875, 188.876953125, 177.890625, 73.30078125, -104.0625, 0.43383947014808655 ]
[ 2.724609375, 188.61328125, 178.154296875, 75.9375, -103.623046875, 0.5076141953468323 ]
2.4
72
0
72
0
[ 4.74609375, 188.876953125, 177.626953125, 71.806640625, -104.0625, 0.43383947014808655 ]
[ 2.724609375, 188.349609375, 178.154296875, 75.05859375, -103.7109375, 0.5076141953468323 ]
2.433333
73
0
73
0
[ 5.361328125, 188.876953125, 177.275390625, 70.13671875, -104.326171875, 0.43383947014808655 ]
[ 3.076171875, 188.26171875, 178.154296875, 74.1796875, -103.798828125, 0.5076141953468323 ]
2.466667
74
0
74
0
[ 5.888671875, 188.876953125, 176.923828125, 68.291015625, -104.326171875, 0.43383947014808655 ]
[ 3.8671875, 188.173828125, 178.154296875, 73.037109375, -103.798828125, 0.5076141953468323 ]
2.5
75
0
75
0
[ 6.15234375, 188.876953125, 176.396484375, 66.708984375, -104.58984375, 0.43383947014808655 ]
[ 4.21875, 188.0859375, 178.154296875, 71.71875, -103.798828125, 0.5076141953468323 ]
2.533333
76
0
76
0
[ 6.240234375, 188.876953125, 175.693359375, 65.56640625, -104.94140625, 0.43383947014808655 ]
[ 4.21875, 187.998046875, 178.06640625, 70.224609375, -103.798828125, 0.5076141953468323 ]
2.566667
77
0
77
0
[ 6.240234375, 188.876953125, 174.7265625, 65.0390625, -105.64453125, 0.43383947014808655 ]
[ 4.658203125, 187.998046875, 178.06640625, 68.466796875, -103.798828125, 0.5076141953468323 ]
2.6
78
0
78
0
[ 6.240234375, 188.876953125, 173.671875, 64.951171875, -106.34765625, 0.43383947014808655 ]
[ 5.80078125, 187.91015625, 177.71484375, 67.32421875, -103.798828125, 0.5076141953468323 ]
2.633333
79
0
79
0
[ 6.15234375, 188.876953125, 172.79296875, 64.599609375, -106.69921875, 0.43383947014808655 ]
[ 5.80078125, 187.91015625, 176.923828125, 66.62109375, -104.4140625, 0.5076141953468323 ]
2.666667
80
0
80
0
[ 6.15234375, 188.876953125, 172.001953125, 63.896484375, -106.69921875, 0.43383947014808655 ]
[ 5.185546875, 187.91015625, 176.044921875, 65.830078125, -105.205078125, 0.5076141953468323 ]
2.7
81
0
81
0
[ 6.064453125, 188.876953125, 171.298828125, 62.9296875, -106.69921875, 0.43383947014808655 ]
[ 5.44921875, 187.91015625, 175.25390625, 65.302734375, -105.380859375, 0.5076141953468323 ]
2.733333
82
0
82
0
[ 6.064453125, 188.876953125, 170.68359375, 61.787109375, -106.69921875, 0.43383947014808655 ]
[ 6.064453125, 187.91015625, 174.7265625, 64.3359375, -105.46875, 0.5076141953468323 ]
2.766667
83
0
83
0
[ 6.15234375, 188.876953125, 169.98046875, 60.556640625, -106.69921875, 0.43383947014808655 ]
[ 5.9765625, 187.91015625, 174.111328125, 63.544921875, -105.64453125, 0.5076141953468323 ]
2.8
84
0
84
0
[ 6.240234375, 188.876953125, 169.27734375, 59.0625, -106.69921875, 0.43383947014808655 ]
[ 5.44921875, 187.91015625, 173.232421875, 62.578125, -105.64453125, 0.5076141953468323 ]
2.833333
85
0
85
0
[ 6.240234375, 188.876953125, 168.486328125, 57.65625, -106.69921875, 0.43383947014808655 ]
[ 5.44921875, 187.91015625, 172.353515625, 61.611328125, -105.64453125, 0.5076141953468323 ]
2.866667
86
0
86
0
[ 6.240234375, 188.876953125, 167.607421875, 56.42578125, -106.69921875, 0.43383947014808655 ]
[ 5.80078125, 187.91015625, 171.826171875, 60.64453125, -105.64453125, 0.5076141953468323 ]
2.9
87
0
87
0
[ 6.240234375, 188.876953125, 166.552734375, 55.37109375, -106.69921875, 0.43383947014808655 ]
[ 5.80078125, 187.91015625, 171.123046875, 59.326171875, -105.64453125, 0.5076141953468323 ]
2.933333
88
0
88
0
[ 6.15234375, 188.876953125, 165.498046875, 54.580078125, -106.875, 0.43383947014808655 ]
[ 5.625, 187.822265625, 170.244140625, 58.0078125, -105.64453125, 0.5076141953468323 ]
2.966667
89
0
89
0
[ 6.15234375, 188.876953125, 164.1796875, 54.4921875, -107.40234375, 0.43383947014808655 ]
[ 5.537109375, 187.998046875, 169.189453125, 56.865234375, -105.64453125, 0.5076141953468323 ]
3
90
0
90
0
[ 6.15234375, 188.876953125, 162.861328125, 54.4921875, -107.578125, 0.43383947014808655 ]
[ 5.537109375, 187.91015625, 168.22265625, 55.986328125, -105.64453125, 0.5076141953468323 ]
3.033333
91
0
91
0
[ 6.15234375, 188.876953125, 161.54296875, 54.4921875, -107.75390625, 0.43383947014808655 ]
[ 5.625, 187.91015625, 167.34375, 55.546875, -106.171875, 0.5076141953468323 ]
3.066667
92
0
92
0
[ 6.15234375, 188.876953125, 160.224609375, 54.755859375, -107.9296875, 0.43383947014808655 ]
[ 5.537109375, 187.91015625, 165.9375, 55.283203125, -106.5234375, 0.5076141953468323 ]
3.1
93
0
93
0
[ 6.064453125, 188.876953125, 158.994140625, 55.107421875, -108.193359375, 0.43383947014808655 ]
[ 5.537109375, 187.91015625, 164.70703125, 55.01953125, -106.5234375, 0.5076141953468323 ]
3.133333
94
0
94
0
[ 6.064453125, 188.876953125, 157.67578125, 55.810546875, -108.80859375, 0.43383947014808655 ]
[ 5.537109375, 188.26171875, 163.564453125, 55.01953125, -106.611328125, 0.5076141953468323 ]
3.166667
95
0
95
0
[ 5.9765625, 188.876953125, 156.181640625, 56.689453125, -109.072265625, 0.43383947014808655 ]
[ 5.537109375, 187.91015625, 161.982421875, 55.1953125, -107.138671875, 0.5076141953468323 ]
3.2
96
0
96
0
[ 5.80078125, 188.876953125, 154.51171875, 57.83203125, -109.16015625, 0.43383947014808655 ]
[ 5.44921875, 187.91015625, 160.6640625, 55.1953125, -107.490234375, 0.5076141953468323 ]
3.233333
97
0
97
0
[ 5.625, 188.876953125, 152.666015625, 58.623046875, -109.072265625, 0.43383947014808655 ]
[ 5.2734375, 188.0859375, 159.521484375, 55.634765625, -108.10546875, 0.5076141953468323 ]
3.266667
98
0
98
0
[ 5.537109375, 188.876953125, 150.99609375, 59.0625, -108.544921875, 0.43383947014808655 ]
[ 5.09765625, 188.173828125, 158.02734375, 56.42578125, -108.369140625, 0.5076141953468323 ]
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": 10,
    "total_frames": 5918,
    "total_tasks": 1,
    "total_videos": 10,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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.onhand": {
            "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",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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