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Datasets:
zhaoraning
/
Orbbec

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
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action
sequence
observation.state
sequence
timestamp
float32
0
16
frame_index
int64
0
479
episode_index
int64
0
49
index
int64
0
15.6k
task_index
int64
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2.466667
74
0
74
0
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2.5
75
0
75
0
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2.533333
76
0
76
0
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2.566667
77
0
77
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[ -12.83203125, 72.509765625, 69.9609375, 45.703125, 87.71484375, 42.69565200805664 ]
2.6
78
0
78
0
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[ -12.65625, 71.806640625, 69.78515625, 45.703125, 87.71484375, 42.69565200805664 ]
2.633333
79
0
79
0
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[ -12.392578125, 71.54296875, 69.345703125, 45.703125, 87.71484375, 42.69565200805664 ]
2.666667
80
0
80
0
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[ -11.953125, 71.19140625, 69.08203125, 45.703125, 87.71484375, 42.69565200805664 ]
2.7
81
0
81
0
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[ -11.689453125, 70.576171875, 68.291015625, 45.703125, 87.71484375, 42.69565200805664 ]
2.733333
82
0
82
0
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2.766667
83
0
83
0
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[ -11.6015625, 70.048828125, 67.236328125, 45.615234375, 87.71484375, 42.69565200805664 ]
2.8
84
0
84
0
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2.833333
85
0
85
0
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2.866667
86
0
86
0
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[ -11.953125, 68.73046875, 65.830078125, 45.615234375, 87.71484375, 42.69565200805664 ]
2.9
87
0
87
0
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[ -12.12890625, 68.466796875, 65.7421875, 45.615234375, 87.71484375, 42.69565200805664 ]
2.933333
88
0
88
0
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2.966667
89
0
89
0
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3
90
0
90
0
[ -12.65625, 68.291015625, 63.369140625, 45.263671875, 88.505859375, 43.51931381225586 ]
[ -12.48046875, 67.5, 65.654296875, 45.615234375, 87.71484375, 42.69565200805664 ]
3.033333
91
0
91
0
[ -12.65625, 68.115234375, 63.369140625, 45.263671875, 88.505859375, 43.51931381225586 ]
[ -12.48046875, 67.32421875, 65.56640625, 45.615234375, 87.71484375, 42.69565200805664 ]
3.066667
92
0
92
0
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[ -12.48046875, 67.1484375, 65.56640625, 45.615234375, 87.71484375, 42.69565200805664 ]
3.1
93
0
93
0
[ -12.65625, 67.67578125, 63.369140625, 45.17578125, 88.505859375, 43.51931381225586 ]
[ -12.392578125, 67.1484375, 65.56640625, 45.615234375, 87.71484375, 42.69565200805664 ]
3.133333
94
0
94
0
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[ -12.216796875, 66.708984375, 65.478515625, 45.615234375, 87.71484375, 42.69565200805664 ]
3.166667
95
0
95
0
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[ -12.12890625, 66.533203125, 65.390625, 45.615234375, 87.71484375, 42.69565200805664 ]
3.2
96
0
96
0
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[ -12.12890625, 66.26953125, 65.478515625, 45.615234375, 87.71484375, 42.69565200805664 ]
3.233333
97
0
97
0
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[ -12.12890625, 66.26953125, 65.478515625, 45.615234375, 87.71484375, 42.69565200805664 ]
3.266667
98
0
98
0
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[ -12.12890625, 66.26953125, 65.478515625, 45.615234375, 87.71484375, 42.69565200805664 ]
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": 15601,
    "total_tasks": 1,
    "total_videos": 50,
    "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": [
                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": [
                880,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 880,
                "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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