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hannb
/
so100_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
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parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
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Dask
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observation.state
sequence
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float32
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9.37
frame_index
int64
0
281
episode_index
int64
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index
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4.48k
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[ -0.263671875, 195.380859375, 180.791015625, 52.294921875, -14.765625, -0.5479452013969421, -11.513671875, 119.619140625, 87.890625, 77.6953125, -21.357421875, 0.08438818901777267 ]
[ 0, 193.88671875, 179.12109375, 51.85546875, -14.150390625, 0.42016807198524475, -14.853515625, 103.974609375, 70.576171875, 84.814453125, -21.26953125, 0.4938271641731262 ]
2.766667
83
0
83
0
[ -0.263671875, 195.380859375, 180.791015625, 52.294921875, -14.765625, -0.5479452013969421, -7.822265625, 126.650390625, 98.0859375, 73.388671875, -21.62109375, 0.08438818901777267 ]
[ 0, 193.88671875, 179.12109375, 51.85546875, -14.150390625, 0.42016807198524475, -12.48046875, 113.37890625, 82.529296875, 79.453125, -21.26953125, 0.4938271641731262 ]
2.8
84
0
84
0
[ -0.263671875, 195.380859375, 180.791015625, 52.294921875, -14.765625, -0.5479452013969421, -6.328125, 129.0234375, 101.77734375, 71.982421875, -21.796875, 0.08438818901777267 ]
[ 0, 193.88671875, 179.12109375, 51.85546875, -14.150390625, 0.42016807198524475, -11.42578125, 115.751953125, 85.78125, 78.22265625, -21.26953125, 0.4938271641731262 ]
2.833333
85
0
85
0
[ -0.263671875, 195.380859375, 180.791015625, 52.294921875, -14.765625, -0.5479452013969421, -4.482421875, 131.923828125, 106.69921875, 70.13671875, -22.236328125, 0.08438818901777267 ]
[ 0, 193.88671875, 179.12109375, 51.85546875, -14.150390625, 0.42016807198524475, -9.052734375, 119.53125, 90.52734375, 75.146484375, -21.26953125, 0.4938271641731262 ]
2.866667
86
0
86
0
[ -0.3515625, 195.380859375, 180.791015625, 52.294921875, -14.765625, -0.5479452013969421, -2.98828125, 134.6484375, 111.4453125, 68.291015625, -22.412109375, 0.08438818901777267 ]
[ 0, 193.88671875, 179.12109375, 51.85546875, -14.150390625, 0.42016807198524475, -6.591796875, 124.541015625, 97.734375, 72.421875, -21.26953125, 0.4938271641731262 ]
2.9
87
0
87
0
[ -0.3515625, 195.380859375, 180.791015625, 52.294921875, -14.765625, -0.5479452013969421, -1.58203125, 137.109375, 115.6640625, 66.708984375, -22.5, 0.08438818901777267 ]
[ 0, 193.88671875, 179.12109375, 51.85546875, -14.150390625, 0.42016807198524475, -4.21875, 128.3203125, 103.798828125, 70.927734375, -21.4453125, 0.4938271641731262 ]
2.933333
88
0
88
0
[ -0.3515625, 195.380859375, 180.791015625, 52.294921875, -14.765625, -0.5479452013969421, 0, 140.2734375, 120.849609375, 64.599609375, -22.763671875, 0.08438818901777267 ]
[ 0, 193.88671875, 179.12109375, 51.85546875, -14.150390625, 0.42016807198524475, -2.373046875, 131.748046875, 110.126953125, 68.73046875, -21.708984375, 0.4938271641731262 ]
2.966667
89
0
89
0
[ -0.3515625, 195.380859375, 180.791015625, 52.294921875, -14.765625, -0.5479452013969421, 2.373046875, 145.1953125, 129.287109375, 61.69921875, -23.02734375, 0.08438818901777267 ]
[ 0, 193.88671875, 179.12109375, 51.85546875, -14.150390625, 0.42016807198524475, -0.52734375, 136.58203125, 118.037109375, 65.654296875, -21.796875, 0.4938271641731262 ]
3
90
0
90
0
[ -0.3515625, 195.380859375, 180.791015625, 52.294921875, -14.765625, -0.5479452013969421, 2.98828125, 146.689453125, 132.451171875, 60.8203125, -23.02734375, 0.08438818901777267 ]
[ 0, 193.88671875, 179.12109375, 51.85546875, -14.150390625, 0.42016807198524475, -0.087890625, 137.900390625, 119.8828125, 65.0390625, -21.796875, 0.4938271641731262 ]
3.033333
91
0
91
0
[ -0.3515625, 195.380859375, 180.791015625, 52.294921875, -14.765625, -0.5479452013969421, 4.04296875, 149.0625, 136.669921875, 59.677734375, -22.939453125, 0.08438818901777267 ]
[ 0, 193.88671875, 179.12109375, 51.85546875, -14.150390625, 0.42016807198524475, 0.703125, 140.712890625, 123.57421875, 62.666015625, -22.412109375, 0.4938271641731262 ]
3.066667
92
0
92
0
[ -0.3515625, 195.380859375, 180.791015625, 52.294921875, -14.765625, -0.5479452013969421, 4.74609375, 152.314453125, 141.591796875, 58.271484375, -22.67578125, 0.08438818901777267 ]
[ 0, 193.88671875, 179.12109375, 51.85546875, -14.150390625, 0.42016807198524475, 2.197265625, 144.84375, 130.517578125, 60.64453125, -22.5, 0.4938271641731262 ]
3.1
93
0
93
0
[ -0.3515625, 195.380859375, 180.791015625, 52.294921875, -14.765625, -0.5479452013969421, 5.361328125, 155.91796875, 146.25, 57.48046875, -22.32421875, 0.08438818901777267 ]
[ 0, 193.88671875, 179.12109375, 51.85546875, -14.150390625, 0.42016807198524475, 3.8671875, 147.744140625, 136.7578125, 59.4140625, -22.32421875, 0.4938271641731262 ]
3.133333
94
0
94
0
[ -0.439453125, 195.380859375, 180.791015625, 52.294921875, -14.853515625, -0.5479452013969421, 6.328125, 161.015625, 151.69921875, 57.3046875, -22.236328125, 0.08438818901777267 ]
[ 0, 193.88671875, 179.12109375, 51.85546875, -14.150390625, 0.42016807198524475, 4.04296875, 151.962890625, 143.4375, 58.095703125, -22.236328125, 0.4938271641731262 ]
3.166667
95
0
95
0
[ -0.439453125, 195.380859375, 180.791015625, 52.294921875, -14.853515625, -0.5479452013969421, 7.734375, 165.849609375, 155.56640625, 58.271484375, -22.5, 0.08438818901777267 ]
[ 0, 193.88671875, 179.12109375, 51.85546875, -14.150390625, 0.42016807198524475, 5.888671875, 156.4453125, 149.0625, 57.65625, -22.236328125, 0.4938271641731262 ]
3.2
96
0
96
0
[ -0.439453125, 195.380859375, 180.791015625, 52.294921875, -14.94140625, -0.5479452013969421, 8.349609375, 167.16796875, 156.533203125, 58.798828125, -22.5, 0.08438818901777267 ]
[ 0, 193.88671875, 179.12109375, 51.85546875, -14.150390625, 0.42016807198524475, 5.9765625, 158.818359375, 150.99609375, 57.65625, -22.236328125, 0.4938271641731262 ]
3.233333
97
0
97
0
[ -0.52734375, 195.380859375, 180.791015625, 52.294921875, -14.94140625, -0.5479452013969421, 9.052734375, 169.365234375, 158.642578125, 59.23828125, -22.32421875, 0.08438818901777267 ]
[ 0, 193.88671875, 179.12109375, 51.85546875, -14.150390625, 0.42016807198524475, 6.416015625, 162.333984375, 153.896484375, 57.744140625, -22.236328125, 0.4938271641731262 ]
3.266667
98
0
98
0
[ -0.615234375, 195.380859375, 180.791015625, 52.294921875, -14.94140625, -0.5479452013969421, 9.228515625, 175.4296875, 163.212890625, 60.732421875, -21.97265625, 0.08438818901777267 ]
[ 0, 193.88671875, 179.12109375, 51.85546875, -14.150390625, 0.42016807198524475, 8.7890625, 167.255859375, 157.763671875, 58.623046875, -22.1484375, 0.4938271641731262 ]
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": 5,
    "total_frames": 2193,
    "total_tasks": 1,
    "total_videos": 10,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:5"
    },
    "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": "h264",
                "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": "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": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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