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Datasets:
jackyckhsu98
/
so100_test52

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
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
13
frame_index
int64
0
390
episode_index
int64
0
49
index
int64
0
12.7k
task_index
int64
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0
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2.466667
74
0
74
0
[ 34.541015625, 73.916015625, 61.171875, 88.330078125, 52.03125, -1.502347469329834 ]
[ 31.728515625, 68.291015625, 67.412109375, 86.484375, 54.84375, 14.179719924926758 ]
2.5
75
0
75
0
[ 35.5078125, 73.916015625, 58.359375, 88.59375, 50.2734375, -1.502347469329834 ]
[ 32.51953125, 68.818359375, 66.09375, 86.66015625, 53.7890625, 14.179719924926758 ]
2.533333
76
0
76
0
[ 36.73828125, 72.861328125, 54.580078125, 89.47265625, 48.515625, -1.502347469329834 ]
[ 33.310546875, 68.994140625, 64.6875, 87.099609375, 52.998046875, 14.179719924926758 ]
2.566667
77
0
77
0
[ 38.14453125, 70.927734375, 49.74609375, 90.966796875, 46.93359375, -1.502347469329834 ]
[ 34.1015625, 68.994140625, 62.841796875, 87.71484375, 51.50390625, 14.179719924926758 ]
2.6
78
0
78
0
[ 39.990234375, 68.818359375, 44.6484375, 91.93359375, 45, -1.502347469329834 ]
[ 35.859375, 68.5546875, 58.623046875, 88.76953125, 49.39453125, 14.179719924926758 ]
2.633333
79
0
79
0
[ 41.30859375, 66.884765625, 40.693359375, 92.8125, 43.59375, -1.502347469329834 ]
[ 36.5625, 68.291015625, 56.337890625, 89.208984375, 48.1640625, 14.179719924926758 ]
2.666667
80
0
80
0
[ 42.890625, 64.072265625, 34.716796875, 95.09765625, 42.099609375, -1.502347469329834 ]
[ 37.79296875, 67.060546875, 52.998046875, 89.82421875, 47.021484375, 14.179719924926758 ]
2.7
81
0
81
0
[ 44.384765625, 60.99609375, 28.564453125, 97.55859375, 40.78125, -1.502347469329834 ]
[ 39.462890625, 65.390625, 48.779296875, 90.87890625, 45.087890625, 14.179719924926758 ]
2.733333
82
0
82
0
[ 45.791015625, 57.216796875, 21.62109375, 100.458984375, 39.638671875, -1.502347469329834 ]
[ 40.78125, 63.10546875, 44.47265625, 92.021484375, 43.59375, 14.179719924926758 ]
2.766667
83
0
83
0
[ 47.197265625, 55.283203125, 17.9296875, 101.6015625, 38.759765625, -1.502347469329834 ]
[ 42.451171875, 59.765625, 39.111328125, 93.955078125, 42.1875, 14.179719924926758 ]
2.8
84
0
84
0
[ 48.515625, 54.931640625, 17.314453125, 101.513671875, 37.96875, -1.502347469329834 ]
[ 43.59375, 57.392578125, 34.541015625, 95.09765625, 40.693359375, 14.179719924926758 ]
2.833333
85
0
85
0
[ 49.74609375, 54.31640625, 16.259765625, 101.513671875, 37.177734375, -1.502347469329834 ]
[ 45.17578125, 54.931640625, 29.619140625, 95.537109375, 39.55078125, 14.179719924926758 ]
2.866667
86
0
86
0
[ 50.9765625, 53.7890625, 15.556640625, 101.513671875, 36.5625, -1.502347469329834 ]
[ 46.58203125, 54.052734375, 25.751953125, 95.537109375, 38.3203125, 14.179719924926758 ]
2.9
87
0
87
0
[ 52.119140625, 53.26171875, 14.501953125, 101.6015625, 35.859375, -1.502347469329834 ]
[ 47.98828125, 53.4375, 22.939453125, 95.537109375, 37.880859375, 14.179719924926758 ]
2.933333
88
0
88
0
[ 53.173828125, 52.294921875, 13.0078125, 101.689453125, 35.244140625, -1.502347469329834 ]
[ 49.5703125, 52.998046875, 20.0390625, 95.537109375, 36.826171875, 14.179719924926758 ]
2.966667
89
0
89
0
[ 54.228515625, 51.767578125, 12.48046875, 101.337890625, 34.716796875, -1.502347469329834 ]
[ 50.537109375, 52.55859375, 18.544921875, 95.537109375, 36.2109375, 14.179719924926758 ]
3
90
0
90
0
[ 55.1953125, 50.2734375, 10.634765625, 101.42578125, 33.92578125, -1.502347469329834 ]
[ 51.767578125, 51.240234375, 16.787109375, 95.537109375, 35.68359375, 14.179719924926758 ]
3.033333
91
0
91
0
[ 55.810546875, 49.74609375, 9.931640625, 101.42578125, 33.486328125, -1.502347469329834 ]
[ 52.734375, 50.09765625, 15.556640625, 95.537109375, 34.892578125, 14.179719924926758 ]
3.066667
92
0
92
0
[ 56.337890625, 48.8671875, 9.84375, 100.8984375, 33.046875, -1.502347469329834 ]
[ 53.701171875, 48.8671875, 14.150390625, 95.537109375, 34.013671875, 14.179719924926758 ]
3.1
93
0
93
0
[ 56.953125, 47.4609375, 10.01953125, 100.107421875, 32.607421875, -1.502347469329834 ]
[ 54.66796875, 47.4609375, 12.744140625, 95.537109375, 33.662109375, 14.179719924926758 ]
3.133333
94
0
94
0
[ 57.12890625, 46.58203125, 10.72265625, 99.140625, 32.255859375, -1.502347469329834 ]
[ 55.37109375, 47.021484375, 12.392578125, 95.537109375, 33.3984375, 14.179719924926758 ]
3.166667
95
0
95
0
[ 57.216796875, 45.791015625, 11.689453125, 97.822265625, 31.9921875, -1.502347469329834 ]
[ 55.986328125, 45.87890625, 12.216796875, 95.537109375, 32.783203125, 14.179719924926758 ]
3.2
96
0
96
0
[ 57.216796875, 45.3515625, 13.095703125, 96.416015625, 31.904296875, -1.502347469329834 ]
[ 56.337890625, 45.087890625, 12.216796875, 95.537109375, 32.51953125, 14.179719924926758 ]
3.233333
97
0
97
0
[ 57.216796875, 45, 14.677734375, 94.833984375, 31.728515625, -1.502347469329834 ]
[ 56.513671875, 44.47265625, 12.48046875, 95.361328125, 31.904296875, 14.179719924926758 ]
3.266667
98
0
98
0
[ 57.3046875, 44.560546875, 15.908203125, 93.33984375, 31.46484375, -1.502347469329834 ]
[ 56.689453125, 44.12109375, 13.359375, 94.921875, 31.552734375, 14.179719924926758 ]
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": 50,
    "total_frames": 12718,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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
            ],
            "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": [
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                "width",
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            "info": {
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                "video.height": 480,
                "video.width": 640,
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                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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                "has_audio": false
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        },
        "observation.images.phone": {
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            "shape": [
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                640,
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            "names": [
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                "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": [
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            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
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            ],
            "names": null
        },
        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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