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Datasets:
idreesrazak
/
so100_train_data

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
Libraries:
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Dask
License:
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xet
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action
sequence
observation.state
sequence
timestamp
float32
0
12.9
frame_index
int64
0
388
episode_index
int64
0
49
index
int64
0
19.4k
task_index
int64
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0
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[ 42.099609375, 69.78515625, 45.615234375, 74.794921875, 36.650390625, 18.321918487548828 ]
2.466667
74
0
74
0
[ 44.208984375, 72.861328125, 44.384765625, 74.970703125, 35.244140625, 0.2302379161119461 ]
[ 43.2421875, 69.78515625, 45.615234375, 74.794921875, 36.38671875, 18.321918487548828 ]
2.5
75
0
75
0
[ 44.208984375, 72.7734375, 44.912109375, 74.970703125, 35.244140625, 0.2302379161119461 ]
[ 43.681640625, 69.78515625, 45.615234375, 74.794921875, 36.03515625, 18.321918487548828 ]
2.533333
76
0
76
0
[ 44.208984375, 72.333984375, 45.52734375, 74.970703125, 35.244140625, 0.2302379161119461 ]
[ 43.9453125, 69.78515625, 45.615234375, 74.794921875, 35.859375, 18.321918487548828 ]
2.566667
77
0
77
0
[ 44.208984375, 71.71875, 46.23046875, 74.970703125, 35.244140625, 0.2302379161119461 ]
[ 43.9453125, 69.78515625, 45.703125, 74.794921875, 35.859375, 18.321918487548828 ]
2.6
78
0
78
0
[ 44.208984375, 71.19140625, 46.93359375, 74.970703125, 35.244140625, 0.2302379161119461 ]
[ 43.505859375, 69.78515625, 45.966796875, 74.794921875, 35.859375, 18.321918487548828 ]
2.633333
79
0
79
0
[ 44.208984375, 70.6640625, 47.4609375, 74.8828125, 35.244140625, 0.2302379161119461 ]
[ 43.41796875, 69.78515625, 46.494140625, 74.794921875, 35.859375, 18.321918487548828 ]
2.666667
80
0
80
0
[ 44.208984375, 70.048828125, 47.98828125, 74.8828125, 35.244140625, 0.2302379161119461 ]
[ 43.41796875, 69.78515625, 47.109375, 74.794921875, 35.859375, 18.321918487548828 ]
2.7
81
0
81
0
[ 44.12109375, 69.43359375, 48.427734375, 74.794921875, 35.244140625, 0.2302379161119461 ]
[ 43.505859375, 69.521484375, 47.63671875, 74.794921875, 35.859375, 18.321918487548828 ]
2.733333
82
0
82
0
[ 44.12109375, 68.73046875, 48.69140625, 74.619140625, 35.244140625, 0.2302379161119461 ]
[ 44.12109375, 69.169921875, 48.251953125, 74.794921875, 35.859375, 18.321918487548828 ]
2.766667
83
0
83
0
[ 44.12109375, 68.02734375, 48.8671875, 74.35546875, 35.244140625, 0.2302379161119461 ]
[ 44.208984375, 68.5546875, 48.603515625, 74.794921875, 35.859375, 18.321918487548828 ]
2.8
84
0
84
0
[ 44.12109375, 67.32421875, 48.8671875, 74.267578125, 35.244140625, 0.2302379161119461 ]
[ 44.296875, 67.8515625, 48.8671875, 74.794921875, 35.859375, 18.321918487548828 ]
2.833333
85
0
85
0
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[ 44.296875, 67.236328125, 49.04296875, 74.794921875, 35.859375, 18.321918487548828 ]
2.866667
86
0
86
0
[ 43.76953125, 65.830078125, 48.8671875, 74.1796875, 35.244140625, 0.2302379161119461 ]
[ 43.9453125, 66.533203125, 49.130859375, 74.794921875, 35.859375, 18.321918487548828 ]
2.9
87
0
87
0
[ 43.59375, 64.951171875, 48.8671875, 74.1796875, 35.244140625, 0.2302379161119461 ]
[ 43.681640625, 65.830078125, 49.130859375, 74.794921875, 35.859375, 18.321918487548828 ]
2.933333
88
0
88
0
[ 43.505859375, 64.072265625, 48.515625, 74.091796875, 35.244140625, 0.2302379161119461 ]
[ 43.59375, 65.126953125, 49.130859375, 74.794921875, 35.859375, 18.321918487548828 ]
2.966667
89
0
89
0
[ 43.41796875, 63.193359375, 48.076171875, 74.091796875, 35.244140625, 0.2302379161119461 ]
[ 43.59375, 64.248046875, 49.130859375, 74.794921875, 35.859375, 18.321918487548828 ]
3
90
0
90
0
[ 43.41796875, 62.2265625, 47.900390625, 73.740234375, 35.244140625, 0.2302379161119461 ]
[ 43.59375, 63.193359375, 49.130859375, 74.794921875, 35.859375, 18.321918487548828 ]
3.033333
91
0
91
0
[ 43.330078125, 61.259765625, 47.900390625, 72.94921875, 35.244140625, 0.2302379161119461 ]
[ 43.76953125, 62.40234375, 49.130859375, 74.70703125, 35.859375, 18.321918487548828 ]
3.066667
92
0
92
0
[ 43.330078125, 60.46875, 47.900390625, 71.806640625, 35.244140625, 0.2302379161119461 ]
[ 43.9453125, 61.34765625, 49.130859375, 74.35546875, 35.859375, 18.321918487548828 ]
3.1
93
0
93
0
[ 43.330078125, 59.765625, 47.900390625, 70.400390625, 35.244140625, 0.15349194407463074 ]
[ 44.033203125, 60.380859375, 49.130859375, 73.4765625, 35.859375, 18.321918487548828 ]
3.133333
94
0
94
0
[ 43.330078125, 59.23828125, 47.900390625, 68.818359375, 35.244140625, 0.07674597203731537 ]
[ 43.9453125, 59.765625, 49.130859375, 72.59765625, 35.859375, 18.321918487548828 ]
3.166667
95
0
95
0
[ 43.330078125, 58.7109375, 47.900390625, 67.236328125, 35.244140625, 0 ]
[ 43.857421875, 59.150390625, 49.130859375, 71.54296875, 35.859375, 18.321918487548828 ]
3.2
96
0
96
0
[ 43.330078125, 58.095703125, 47.98828125, 65.7421875, 35.244140625, -0.15349194407463074 ]
[ 43.681640625, 58.447265625, 49.130859375, 69.9609375, 35.859375, 18.321918487548828 ]
3.233333
97
0
97
0
[ 43.330078125, 57.48046875, 47.98828125, 64.423828125, 35.244140625, -0.15349194407463074 ]
[ 43.505859375, 57.919921875, 49.130859375, 68.73046875, 35.859375, 18.321918487548828 ]
3.266667
98
0
98
0
[ 43.2421875, 56.865234375, 47.98828125, 63.28125, 35.244140625, -0.15349194407463074 ]
[ 43.41796875, 57.3046875, 49.130859375, 67.412109375, 35.859375, 18.321918487548828 ]
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": 1942,
    "total_tasks": 1,
    "total_videos": 5,
    "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.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
            ],
            "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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