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idreesrazak
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so100_test

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Robotics
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LeRobot
so100
tutorial
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action
sequence
observation.state
sequence
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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[ 0.263671875, 52.998046875, 72.509765625, 55.01953125, 57.12890625, 49.731388092041016 ]
[ -1.669921875, 53.61328125, 74.00390625, 55.810546875, 56.513671875, 49.315067291259766 ]
2.466667
74
0
74
0
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2.5
75
0
75
0
[ 1.142578125, 51.15234375, 71.71875, 55.107421875, 57.3046875, 49.50115203857422 ]
[ -0.791015625, 52.55859375, 74.00390625, 55.634765625, 56.513671875, 49.48630142211914 ]
2.533333
76
0
76
0
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[ -0.087890625, 51.50390625, 73.916015625, 55.546875, 56.513671875, 49.48630142211914 ]
2.566667
77
0
77
0
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[ 0.52734375, 50.625, 73.740234375, 55.546875, 56.6015625, 49.48630142211914 ]
2.6
78
0
78
0
[ 1.7578125, 50.44921875, 71.630859375, 55.37109375, 59.23828125, 49.50115203857422 ]
[ 0.966796875, 50.09765625, 73.740234375, 55.546875, 56.689453125, 49.48630142211914 ]
2.633333
79
0
79
0
[ 1.7578125, 50.44921875, 71.630859375, 55.458984375, 60.99609375, 49.731388092041016 ]
[ 1.318359375, 49.921875, 73.740234375, 55.546875, 57.12890625, 49.48630142211914 ]
2.666667
80
0
80
0
[ 1.7578125, 50.361328125, 71.630859375, 55.634765625, 62.9296875, 49.96162796020508 ]
[ 1.494140625, 49.921875, 73.740234375, 55.546875, 58.0078125, 49.48630142211914 ]
2.7
81
0
81
0
[ 1.7578125, 50.361328125, 71.806640625, 55.634765625, 64.775390625, 50.19186782836914 ]
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2.733333
82
0
82
0
[ 1.7578125, 50.361328125, 71.982421875, 55.634765625, 66.181640625, 50.49884796142578 ]
[ 1.494140625, 49.921875, 73.65234375, 55.546875, 60.8203125, 49.48630142211914 ]
2.766667
83
0
83
0
[ 1.7578125, 50.361328125, 71.982421875, 55.634765625, 67.060546875, 50.57559585571289 ]
[ 1.23046875, 49.921875, 73.65234375, 55.546875, 62.40234375, 49.48630142211914 ]
2.8
84
0
84
0
[ 1.7578125, 50.361328125, 71.982421875, 55.634765625, 67.5, 50.42210388183594 ]
[ 1.23046875, 49.921875, 73.65234375, 55.546875, 63.896484375, 49.48630142211914 ]
2.833333
85
0
85
0
[ 1.669921875, 50.361328125, 71.982421875, 55.634765625, 67.67578125, 50.11511993408203 ]
[ 1.23046875, 49.921875, 73.65234375, 55.546875, 65.0390625, 49.48630142211914 ]
2.866667
86
0
86
0
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[ 1.494140625, 49.921875, 73.65234375, 55.546875, 65.830078125, 49.48630142211914 ]
2.9
87
0
87
0
[ 1.669921875, 50.361328125, 72.24609375, 55.634765625, 67.8515625, 48.04297637939453 ]
[ 1.669921875, 49.921875, 73.65234375, 55.546875, 66.357421875, 49.48630142211914 ]
2.933333
88
0
88
0
[ 1.669921875, 50.361328125, 72.24609375, 55.634765625, 67.8515625, 46.968536376953125 ]
[ 1.7578125, 49.921875, 73.65234375, 55.546875, 66.708984375, 49.48630142211914 ]
2.966667
89
0
89
0
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[ 1.845703125, 49.921875, 73.65234375, 55.546875, 66.97265625, 49.143836975097656 ]
3
90
0
90
0
[ 1.669921875, 50.361328125, 72.333984375, 55.634765625, 67.8515625, 44.51266098022461 ]
[ 1.845703125, 49.921875, 73.65234375, 55.546875, 67.1484375, 47.94520568847656 ]
3.033333
91
0
91
0
[ 1.669921875, 50.361328125, 72.421875, 55.634765625, 67.8515625, 42.900997161865234 ]
[ 1.669921875, 49.921875, 73.65234375, 55.546875, 67.236328125, 46.917808532714844 ]
3.066667
92
0
92
0
[ 1.669921875, 50.361328125, 72.421875, 55.634765625, 67.8515625, 41.0590934753418 ]
[ 1.58203125, 49.921875, 73.65234375, 55.546875, 67.236328125, 45.890411376953125 ]
3.1
93
0
93
0
[ 1.669921875, 50.361328125, 72.421875, 55.634765625, 67.8515625, 40.75210952758789 ]
[ 1.58203125, 49.921875, 73.65234375, 55.546875, 67.236328125, 44.52054977416992 ]
3.133333
94
0
94
0
[ 1.669921875, 50.361328125, 72.421875, 55.72265625, 67.8515625, 39.75440979003906 ]
[ 1.58203125, 49.921875, 73.65234375, 55.546875, 67.236328125, 42.97945022583008 ]
3.166667
95
0
95
0
[ 1.669921875, 50.2734375, 72.421875, 55.72265625, 67.8515625, 39.44742965698242 ]
[ 1.669921875, 49.921875, 73.65234375, 55.546875, 67.236328125, 41.952056884765625 ]
3.2
96
0
96
0
[ 1.669921875, 50.2734375, 72.509765625, 55.810546875, 67.763671875, 39.67766571044922 ]
[ 1.7578125, 49.921875, 73.65234375, 55.546875, 67.236328125, 41.095890045166016 ]
3.233333
97
0
97
0
[ 1.669921875, 50.2734375, 72.59765625, 55.810546875, 67.587890625, 38.756717681884766 ]
[ 1.7578125, 49.921875, 73.65234375, 55.546875, 67.236328125, 40.582191467285156 ]
3.266667
98
0
98
0
[ 1.669921875, 50.2734375, 72.59765625, 55.810546875, 67.32421875, 36.53108215332031 ]
[ 1.7578125, 49.921875, 73.65234375, 55.546875, 67.236328125, 40.41096115112305 ]
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": 2,
    "total_frames": 896,
    "total_tasks": 1,
    "total_videos": 2,
    "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": [
                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.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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            "shape": [
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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