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so100_test

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Robotics
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LeRobot
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action
sequence
observation.state
sequence
timestamp
float32
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12.8
frame_index
int64
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385
episode_index
int64
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1
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int64
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[ 1.58203125, 183.076171875, 172.6171875, 69.609375, -181.0546875, 28.05611228942871 ]
[ 0.615234375, 181.845703125, 172.265625, 69.08203125, -180, 28.23894691467285 ]
2.5
75
0
75
0
[ 1.40625, 183.076171875, 172.6171875, 69.609375, -181.142578125, 26.75350570678711 ]
[ 0.615234375, 181.845703125, 172.265625, 69.08203125, -180, 28.161365509033203 ]
2.533333
76
0
76
0
[ 1.0546875, 183.076171875, 172.6171875, 69.345703125, -181.142578125, 26.352706909179688 ]
[ 0.615234375, 181.845703125, 172.265625, 69.08203125, -180, 27.38557243347168 ]
2.566667
77
0
77
0
[ 0.615234375, 183.076171875, 172.6171875, 68.994140625, -181.142578125, 25.551101684570312 ]
[ 0.615234375, 181.845703125, 172.265625, 69.08203125, -180, 26.764934539794922 ]
2.6
78
0
78
0
[ 0, 183.076171875, 172.6171875, 68.37890625, -181.0546875, 23.547094345092773 ]
[ 0.615234375, 181.845703125, 172.265625, 68.73046875, -180, 26.221878051757812 ]
2.633333
79
0
79
0
[ -0.439453125, 183.076171875, 172.6171875, 67.32421875, -180.966796875, 21.843687057495117 ]
[ 0.439453125, 181.845703125, 172.265625, 68.466796875, -180, 24.82544708251953 ]
2.666667
80
0
80
0
[ -0.791015625, 183.076171875, 172.6171875, 66.09375, -181.0546875, 20.340681076049805 ]
[ 0.263671875, 181.845703125, 172.265625, 67.939453125, -180, 22.808378219604492 ]
2.7
81
0
81
0
[ -1.142578125, 183.076171875, 172.6171875, 65.478515625, -181.142578125, 18.63727378845215 ]
[ 0.263671875, 181.845703125, 172.265625, 67.5, -180, 21.79984474182129 ]
2.733333
82
0
82
0
[ -1.23046875, 183.076171875, 172.6171875, 64.86328125, -181.142578125, 17.535070419311523 ]
[ 0, 181.845703125, 172.265625, 66.4453125, -180, 20.403413772583008 ]
2.766667
83
0
83
0
[ -1.40625, 183.076171875, 172.6171875, 64.072265625, -181.142578125, 17.43486976623535 ]
[ -0.703125, 181.845703125, 172.177734375, 65.654296875, -180, 19.006982803344727 ]
2.8
84
0
84
0
[ -1.40625, 183.076171875, 172.6171875, 63.017578125, -181.40625, 17.735471725463867 ]
[ -0.791015625, 181.845703125, 172.265625, 65.21484375, -180, 18.231185913085938 ]
2.833333
85
0
85
0
[ -1.40625, 183.076171875, 172.6171875, 61.787109375, -181.40625, 17.835670471191406 ]
[ -0.615234375, 181.845703125, 172.265625, 64.599609375, -180, 17.843290328979492 ]
2.866667
86
0
86
0
[ -1.40625, 183.076171875, 172.6171875, 60.64453125, -181.40625, 18.136272430419922 ]
[ -0.615234375, 181.845703125, 172.265625, 63.369140625, -180, 17.610551834106445 ]
2.9
87
0
87
0
[ -1.318359375, 183.076171875, 172.6171875, 59.150390625, -181.318359375, 18.336673736572266 ]
[ -0.615234375, 181.845703125, 172.265625, 61.962890625, -180, 17.610551834106445 ]
2.933333
88
0
88
0
[ -1.23046875, 183.076171875, 172.6171875, 57.48046875, -181.318359375, 18.436874389648438 ]
[ -0.615234375, 181.845703125, 172.265625, 60.732421875, -180, 17.843290328979492 ]
2.966667
89
0
89
0
[ -1.0546875, 183.076171875, 172.6171875, 55.634765625, -181.0546875, 18.436874389648438 ]
[ -0.615234375, 181.845703125, 172.265625, 59.150390625, -180, 17.843290328979492 ]
3
90
0
90
0
[ -1.0546875, 183.076171875, 172.6171875, 53.61328125, -180.966796875, 18.236473083496094 ]
[ -0.615234375, 181.845703125, 172.265625, 56.953125, -180, 17.843290328979492 ]
3.033333
91
0
91
0
[ -0.966796875, 183.076171875, 172.6171875, 52.294921875, -180.966796875, 18.03607177734375 ]
[ -0.615234375, 181.845703125, 172.265625, 55.8984375, -180, 17.843290328979492 ]
3.066667
92
0
92
0
[ -0.87890625, 183.076171875, 172.6171875, 51.064453125, -181.318359375, 17.735471725463867 ]
[ -0.615234375, 181.845703125, 172.265625, 54.31640625, -180, 17.843290328979492 ]
3.1
93
0
93
0
[ -0.87890625, 183.076171875, 172.6171875, 50.09765625, -181.669921875, 16.73346710205078 ]
[ -0.439453125, 181.845703125, 172.177734375, 53.26171875, -180, 17.610551834106445 ]
3.133333
94
0
94
0
[ -0.87890625, 183.076171875, 172.6171875, 49.5703125, -181.93359375, 15.831663131713867 ]
[ -0.263671875, 181.845703125, 172.265625, 52.20703125, -180, 16.912334442138672 ]
3.166667
95
0
95
0
[ -0.966796875, 183.076171875, 172.6171875, 49.04296875, -182.28515625, 13.026052474975586 ]
[ -0.263671875, 181.845703125, 172.265625, 51.064453125, -180, 16.13654136657715 ]
3.2
96
0
96
0
[ -1.142578125, 183.076171875, 172.6171875, 48.427734375, -182.548828125, 6.01202392578125 ]
[ -0.263671875, 181.845703125, 172.265625, 50.2734375, -180, 14.429791450500488 ]
3.233333
97
0
97
0
[ -1.142578125, 183.076171875, 172.6171875, 47.900390625, -182.8125, 3.807615041732788 ]
[ -0.3515625, 181.845703125, 172.265625, 49.39453125, -180, 11.32660961151123 ]
3.266667
98
0
98
0
[ -1.142578125, 183.076171875, 172.6171875, 47.548828125, -182.8125, 0.10020039975643158 ]
[ -0.615234375, 181.845703125, 172.265625, 48.603515625, -180, 7.913111209869385 ]
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": 733,
    "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": [
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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": [
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                640,
                3
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            "names": [
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            "info": {
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                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
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        },
        "observation.images.phone": {
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            "names": [
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                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
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                "video.is_depth_map": false,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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                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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