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Datasets:
DimiSch
/
so100_50ep_2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
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Dask
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action
sequence
observation.state
sequence
timestamp
float32
0
19.8
frame_index
int64
0
595
episode_index
int64
0
49
index
int64
0
29.8k
task_index
int64
0
0
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[ 7.91015625, 92.021484375, 109.3359375, 61.787109375, 1.845703125, 24.59893035888672 ]
[ 6.50390625, 91.58203125, 110.654296875, 62.40234375, 0.703125, 24.586627960205078 ]
2.433333
73
0
73
0
[ 7.91015625, 91.7578125, 109.423828125, 61.611328125, 1.93359375, 24.33155059814453 ]
[ 6.50390625, 91.318359375, 110.654296875, 62.40234375, 0.703125, 24.370956420898438 ]
2.466667
74
0
74
0
[ 7.91015625, 91.40625, 109.423828125, 61.435546875, 2.109375, 23.88591766357422 ]
[ 6.591796875, 91.0546875, 110.654296875, 62.138671875, 0.703125, 24.227174758911133 ]
2.5
75
0
75
0
[ 7.998046875, 91.142578125, 109.3359375, 61.34765625, 2.197265625, 23.61853790283203 ]
[ 6.6796875, 90.615234375, 110.654296875, 61.787109375, 0.791015625, 24.155284881591797 ]
2.533333
76
0
76
0
[ 7.998046875, 90.87890625, 109.3359375, 61.083984375, 2.197265625, 23.440284729003906 ]
[ 6.6796875, 90.3515625, 110.654296875, 61.611328125, 1.23046875, 23.723939895629883 ]
2.566667
77
0
77
0
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2.6
78
0
78
0
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[ 6.767578125, 89.6484375, 110.654296875, 61.34765625, 1.58203125, 23.220705032348633 ]
2.633333
79
0
79
0
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[ 6.943359375, 89.296875, 110.654296875, 60.8203125, 1.7578125, 23.148813247680664 ]
2.666667
80
0
80
0
[ 8.4375, 89.12109375, 109.423828125, 60.205078125, 2.28515625, 22.72727394104004 ]
[ 7.3828125, 88.9453125, 110.654296875, 60.64453125, 1.7578125, 23.148813247680664 ]
2.7
81
0
81
0
[ 8.701171875, 88.681640625, 109.423828125, 59.853515625, 2.28515625, 22.370765686035156 ]
[ 7.734375, 88.59375, 110.654296875, 60.380859375, 1.7578125, 23.148813247680664 ]
2.733333
82
0
82
0
[ 8.876953125, 88.330078125, 109.423828125, 59.677734375, 2.28515625, 21.83600616455078 ]
[ 7.734375, 88.06640625, 110.654296875, 60.29296875, 1.7578125, 22.78936004638672 ]
2.766667
83
0
83
0
[ 9.052734375, 87.890625, 109.3359375, 59.501953125, 2.28515625, 21.65775489807129 ]
[ 7.734375, 87.5390625, 110.654296875, 59.853515625, 1.7578125, 22.42990493774414 ]
2.8
84
0
84
0
[ 9.228515625, 87.71484375, 109.3359375, 59.326171875, 2.28515625, 21.122995376586914 ]
[ 7.646484375, 87.1875, 110.654296875, 59.677734375, 1.7578125, 21.99856185913086 ]
2.833333
85
0
85
0
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[ 7.822265625, 86.748046875, 110.56640625, 59.4140625, 1.7578125, 21.567218780517578 ]
2.866667
86
0
86
0
[ 9.31640625, 87.36328125, 109.3359375, 59.0625, 2.109375, 18.89483070373535 ]
[ 8.173828125, 86.66015625, 110.56640625, 59.4140625, 2.109375, 21.351545333862305 ]
2.9
87
0
87
0
[ 9.31640625, 87.275390625, 109.3359375, 58.974609375, 2.109375, 17.46880531311035 ]
[ 8.349609375, 86.572265625, 110.56640625, 59.326171875, 1.93359375, 20.70452880859375 ]
2.933333
88
0
88
0
[ 9.31640625, 87.1875, 109.3359375, 58.798828125, 2.109375, 15.06238842010498 ]
[ 8.525390625, 86.572265625, 110.56640625, 59.326171875, 2.197265625, 19.554277420043945 ]
2.966667
89
0
89
0
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[ 8.525390625, 86.572265625, 110.56640625, 59.0625, 2.197265625, 18.61969757080078 ]
3
90
0
90
0
[ 9.31640625, 87.099609375, 108.984375, 58.798828125, 2.109375, 10.427806854248047 ]
[ 8.525390625, 86.572265625, 110.56640625, 58.88671875, 1.7578125, 17.541336059570312 ]
3.033333
91
0
91
0
[ 9.31640625, 87.01171875, 108.80859375, 58.798828125, 2.109375, 8.377896308898926 ]
[ 8.525390625, 86.572265625, 110.56640625, 58.798828125, 1.7578125, 15.815959930419922 ]
3.066667
92
0
92
0
[ 9.31640625, 86.8359375, 108.544921875, 58.88671875, 2.109375, 6.060606002807617 ]
[ 8.61328125, 86.572265625, 110.390625, 58.798828125, 1.7578125, 13.874910354614258 ]
3.1
93
0
93
0
[ 9.31640625, 86.748046875, 108.369140625, 59.0625, 2.109375, 3.3868093490600586 ]
[ 8.701171875, 86.484375, 110.302734375, 58.798828125, 1.7578125, 11.861969947814941 ]
3.133333
94
0
94
0
[ 9.404296875, 86.66015625, 108.10546875, 59.150390625, 2.021484375, 0.7130124568939209 ]
[ 8.701171875, 86.044921875, 110.0390625, 58.798828125, 1.7578125, 10.49604606628418 ]
3.166667
95
0
95
0
[ 9.404296875, 86.66015625, 107.9296875, 59.326171875, 1.93359375, -0.08912655711174011 ]
[ 8.701171875, 85.95703125, 109.86328125, 58.88671875, 1.7578125, 9.920920372009277 ]
3.2
96
0
96
0
[ 9.404296875, 86.66015625, 107.75390625, 59.501953125, 1.93359375, -0.17825311422348022 ]
[ 8.701171875, 85.95703125, 109.599609375, 58.974609375, 1.669921875, 9.849029541015625 ]
3.233333
97
0
97
0
[ 9.228515625, 86.8359375, 107.666015625, 59.765625, 1.845703125, -0.17825311422348022 ]
[ 8.701171875, 85.95703125, 109.51171875, 58.974609375, 1.40625, 9.849029541015625 ]
3.266667
98
0
98
0
[ 9.228515625, 87.1875, 107.578125, 59.94140625, 1.7578125, -0.26737967133522034 ]
[ 8.7890625, 85.95703125, 109.51171875, 58.974609375, 1.40625, 9.849029541015625 ]
3.3
99
0
99
0
End of preview. Expand in Dataset Viewer.

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "so100",
    "total_episodes": 50,
    "total_frames": 29800,
    "total_tasks": 1,
    "total_videos": 50,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
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    "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": {
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            "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": {
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            "shape": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
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        },
        "observation.images.realsense": {
            "dtype": "video",
            "shape": [
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                3
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            "names": [
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                "width",
                "channels"
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            "info": {
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                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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                "has_audio": false
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        },
        "timestamp": {
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            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
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        "episode_index": {
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        "task_index": {
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            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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