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Datasets:
xhaka3456
/
so100_test_0412

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
act
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
1
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action
sequence
observation.state
sequence
timestamp
float32
0
14.8
frame_index
int64
0
445
episode_index
int64
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49
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int64
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task_index
int64
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72
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[ -2.021484375, 110.654296875, 105.8203125, 82.880859375, 2.8125, 0.09578543901443481 ]
[ -1.0546875, 111.97265625, 109.072265625, 84.19921875, 1.669921875, 0.20862308144569397 ]
2.433333
73
0
73
0
[ -2.021484375, 109.951171875, 105.64453125, 82.001953125, 2.8125, 0.09578543901443481 ]
[ -1.142578125, 110.91796875, 108.45703125, 83.408203125, 1.669921875, 0.20862308144569397 ]
2.466667
74
0
74
0
[ -1.93359375, 109.248046875, 105.380859375, 81.2109375, 2.8125, 0.09578543901443481 ]
[ -1.40625, 109.951171875, 107.9296875, 82.705078125, 1.7578125, 0.20862308144569397 ]
2.5
75
0
75
0
[ -1.845703125, 108.544921875, 105.205078125, 80.244140625, 2.8125, 0.09578543901443481 ]
[ -1.669921875, 109.072265625, 107.666015625, 82.177734375, 1.845703125, 0.20862308144569397 ]
2.533333
76
0
76
0
[ -1.7578125, 107.841796875, 105.1171875, 79.189453125, 2.8125, 0.09578543901443481 ]
[ -1.845703125, 108.6328125, 107.578125, 81.474609375, 1.845703125, 0.20862308144569397 ]
2.566667
77
0
77
0
[ -1.669921875, 107.2265625, 105.1171875, 77.958984375, 2.8125, 0.09578543901443481 ]
[ -1.494140625, 107.9296875, 107.578125, 80.595703125, 2.021484375, 0.20862308144569397 ]
2.6
78
0
78
0
[ -1.58203125, 106.69921875, 105.205078125, 76.728515625, 2.8125, 0.09578543901443481 ]
[ -1.318359375, 107.05078125, 107.490234375, 79.716796875, 1.93359375, 0.20862308144569397 ]
2.633333
79
0
79
0
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[ -0.791015625, 106.611328125, 107.490234375, 78.486328125, 1.93359375, 0.20862308144569397 ]
2.666667
80
0
80
0
[ -1.58203125, 105.908203125, 106.171875, 73.916015625, 3.427734375, 0.09578543901443481 ]
[ -0.703125, 105.8203125, 107.490234375, 77.080078125, 1.93359375, 0.20862308144569397 ]
2.7
81
0
81
0
[ -1.7578125, 105.732421875, 106.69921875, 72.7734375, 4.21875, 0.09578543901443481 ]
[ -0.703125, 105.46875, 107.40234375, 75.9375, 1.93359375, 0.20862308144569397 ]
2.733333
82
0
82
0
[ -1.7578125, 105.64453125, 107.314453125, 71.71875, 4.658203125, 0.09578543901443481 ]
[ -0.791015625, 104.853515625, 107.40234375, 74.619140625, 2.4609375, 0.20862308144569397 ]
2.766667
83
0
83
0
[ -1.93359375, 105.64453125, 107.841796875, 70.83984375, 4.921875, 0.09578543901443481 ]
[ -0.791015625, 104.501953125, 107.40234375, 73.125, 3.33984375, 0.20862308144569397 ]
2.8
84
0
84
0
[ -2.021484375, 105.64453125, 108.45703125, 70.048828125, 5.2734375, 0.09578543901443481 ]
[ -0.966796875, 104.4140625, 107.666015625, 72.0703125, 3.603515625, 0.20862308144569397 ]
2.833333
85
0
85
0
[ -2.109375, 105.64453125, 109.072265625, 69.43359375, 5.625, 0.09578543901443481 ]
[ -1.0546875, 104.4140625, 107.666015625, 71.015625, 3.69140625, 0.20862308144569397 ]
2.866667
86
0
86
0
[ -2.28515625, 105.556640625, 109.775390625, 68.90625, 6.15234375, 0.09578543901443481 ]
[ -1.23046875, 104.4140625, 108.28125, 70.48828125, 4.21875, 0.20862308144569397 ]
2.9
87
0
87
0
[ -2.373046875, 105.732421875, 110.478515625, 68.291015625, 6.328125, 0.09578543901443481 ]
[ -1.494140625, 104.4140625, 109.16015625, 69.609375, 4.74609375, 0.20862308144569397 ]
2.933333
88
0
88
0
[ -2.373046875, 105.8203125, 111.005859375, 67.8515625, 6.328125, 0.09578543901443481 ]
[ -1.7578125, 104.326171875, 109.51171875, 68.818359375, 5.44921875, 0.20862308144569397 ]
2.966667
89
0
89
0
[ -2.4609375, 105.8203125, 111.533203125, 67.587890625, 6.416015625, 0.09578543901443481 ]
[ -1.93359375, 104.326171875, 110.21484375, 68.37890625, 5.625, 0.20862308144569397 ]
3
90
0
90
0
[ -2.548828125, 105.8203125, 111.97265625, 67.060546875, 6.6796875, 0.09578543901443481 ]
[ -2.109375, 104.4140625, 111.005859375, 67.763671875, 5.625, 0.20862308144569397 ]
3.033333
91
0
91
0
[ -2.548828125, 105.64453125, 112.412109375, 66.4453125, 6.6796875, 0.09578543901443481 ]
[ -2.197265625, 104.4140625, 111.26953125, 67.412109375, 5.625, 0.20862308144569397 ]
3.066667
92
0
92
0
[ -2.548828125, 105.64453125, 113.115234375, 65.56640625, 6.6796875, 0.09578543901443481 ]
[ -2.197265625, 104.326171875, 111.357421875, 67.236328125, 5.888671875, 0.20862308144569397 ]
3.1
93
0
93
0
[ -2.548828125, 105.64453125, 113.642578125, 64.6875, 6.6796875, 0.09578543901443481 ]
[ -1.93359375, 104.4140625, 112.060546875, 66.533203125, 5.888671875, 0.20862308144569397 ]
3.133333
94
0
94
0
[ -2.548828125, 105.556640625, 114.2578125, 63.6328125, 6.767578125, 0.09578543901443481 ]
[ -1.845703125, 104.4140625, 112.939453125, 65.654296875, 5.888671875, 0.20862308144569397 ]
3.166667
95
0
95
0
[ -2.548828125, 105.46875, 114.78515625, 62.75390625, 6.767578125, 0.09578543901443481 ]
[ -1.7578125, 104.326171875, 113.291015625, 64.775390625, 5.888671875, 0.20862308144569397 ]
3.2
96
0
96
0
[ -2.63671875, 105.29296875, 115.13671875, 62.138671875, 6.85546875, 0.09578543901443481 ]
[ -1.7578125, 104.326171875, 113.994140625, 63.896484375, 5.888671875, 0.20862308144569397 ]
3.233333
97
0
97
0
[ -2.63671875, 104.94140625, 115.3125, 61.69921875, 6.85546875, 0.09578543901443481 ]
[ -1.7578125, 104.4140625, 114.345703125, 62.9296875, 5.888671875, 0.20862308144569397 ]
3.266667
98
0
98
0
[ -2.724609375, 104.765625, 115.48828125, 61.5234375, 6.943359375, 0.09578543901443481 ]
[ -1.7578125, 104.4140625, 114.9609375, 62.490234375, 5.888671875, 0.20862308144569397 ]
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": 22016,
    "total_tasks": 1,
    "total_videos": 100,
    "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": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "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": "av1",
                "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": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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Downloads last month
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License:
apache-2.0
Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
1.13 MB
Number of rows:
22,016