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Datasets:
Cidoyi
/
so100_rec

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
pandas
License:
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action
sequence
observation.state
sequence
timestamp
float32
0
8.3
frame_index
int64
0
249
episode_index
int64
0
0
index
int64
0
249
task_index
int64
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0
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72
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[ -0.263671875, 74.267578125, 91.142578125, -42.275390625, 182.021484375, 98.07339477539062 ]
[ 0.439453125, 72.685546875, 96.064453125, -40.693359375, 181.7578125, 97.59449768066406 ]
2.433333
73
0
73
0
[ -0.263671875, 74.091796875, 91.142578125, -42.275390625, 182.109375, 98.07339477539062 ]
[ 0.439453125, 72.509765625, 96.064453125, -40.869140625, 181.7578125, 97.59449768066406 ]
2.466667
74
0
74
0
[ -0.263671875, 74.00390625, 91.0546875, -42.275390625, 182.109375, 98.07339477539062 ]
[ 0.439453125, 72.24609375, 96.064453125, -40.95703125, 181.7578125, 97.59449768066406 ]
2.5
75
0
75
0
[ -0.263671875, 73.916015625, 90.966796875, -42.275390625, 182.109375, 98.07339477539062 ]
[ 0.439453125, 72.158203125, 96.064453125, -40.95703125, 181.7578125, 97.59449768066406 ]
2.533333
76
0
76
0
[ -0.263671875, 73.828125, 90.87890625, -42.275390625, 182.109375, 98.07339477539062 ]
[ 0.263671875, 72.158203125, 96.064453125, -40.95703125, 181.7578125, 97.59449768066406 ]
2.566667
77
0
77
0
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[ 0.17578125, 72.0703125, 96.064453125, -40.95703125, 181.669921875, 97.59449768066406 ]
2.6
78
0
78
0
[ -0.263671875, 73.65234375, 90.791015625, -42.275390625, 182.109375, 98.07339477539062 ]
[ 0, 72.0703125, 96.064453125, -40.95703125, 181.669921875, 97.59449768066406 ]
2.633333
79
0
79
0
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[ -0.087890625, 72.0703125, 95.9765625, -40.95703125, 181.669921875, 97.59449768066406 ]
2.666667
80
0
80
0
[ -0.263671875, 73.4765625, 90.791015625, -42.275390625, 182.109375, 98.07339477539062 ]
[ -0.17578125, 72.0703125, 95.9765625, -40.95703125, 181.669921875, 97.59449768066406 ]
2.7
81
0
81
0
[ -0.263671875, 73.388671875, 90.791015625, -42.275390625, 182.109375, 98.07339477539062 ]
[ -0.17578125, 72.0703125, 95.9765625, -40.95703125, 181.7578125, 97.59449768066406 ]
2.733333
82
0
82
0
[ -0.263671875, 73.212890625, 90.791015625, -42.36328125, 182.109375, 98.07339477539062 ]
[ -0.17578125, 72.0703125, 95.9765625, -40.95703125, 181.7578125, 97.59449768066406 ]
2.766667
83
0
83
0
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[ -0.17578125, 71.89453125, 95.9765625, -40.95703125, 181.7578125, 97.59449768066406 ]
2.8
84
0
84
0
[ -0.3515625, 72.94921875, 90.791015625, -42.451171875, 182.109375, 98.07339477539062 ]
[ -0.17578125, 71.71875, 95.9765625, -40.95703125, 181.7578125, 97.59449768066406 ]
2.833333
85
0
85
0
[ -0.3515625, 72.861328125, 90.703125, -42.451171875, 182.109375, 98.07339477539062 ]
[ -0.17578125, 71.455078125, 95.9765625, -40.95703125, 181.7578125, 97.59449768066406 ]
2.866667
86
0
86
0
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[ -0.17578125, 71.279296875, 95.9765625, -40.95703125, 181.7578125, 97.59449768066406 ]
2.9
87
0
87
0
[ -0.3515625, 72.509765625, 90.615234375, -42.5390625, 182.109375, 98.07339477539062 ]
[ -0.17578125, 71.015625, 95.9765625, -40.95703125, 181.7578125, 97.59449768066406 ]
2.933333
88
0
88
0
[ -0.3515625, 72.333984375, 90.52734375, -42.71484375, 182.109375, 98.07339477539062 ]
[ -0.17578125, 70.83984375, 95.9765625, -40.95703125, 181.7578125, 97.59449768066406 ]
2.966667
89
0
89
0
[ -0.3515625, 72.0703125, 90.439453125, -42.978515625, 182.109375, 98.07339477539062 ]
[ -0.17578125, 70.6640625, 95.9765625, -40.95703125, 181.7578125, 97.59449768066406 ]
3
90
0
90
0
[ -0.3515625, 71.806640625, 90.263671875, -43.2421875, 182.021484375, 98.07339477539062 ]
[ -0.17578125, 70.48828125, 95.9765625, -40.95703125, 181.7578125, 97.59449768066406 ]
3.033333
91
0
91
0
[ -0.3515625, 71.3671875, 90.087890625, -43.330078125, 181.93359375, 98.07339477539062 ]
[ -0.17578125, 70.224609375, 95.9765625, -41.1328125, 181.7578125, 97.59449768066406 ]
3.066667
92
0
92
0
[ -0.3515625, 71.19140625, 89.912109375, -43.41796875, 181.93359375, 98.07339477539062 ]
[ -0.17578125, 69.9609375, 95.9765625, -41.484375, 181.7578125, 97.59449768066406 ]
3.1
93
0
93
0
[ -0.3515625, 70.927734375, 89.736328125, -43.41796875, 181.93359375, 98.07339477539062 ]
[ -0.17578125, 69.521484375, 95.9765625, -41.748046875, 181.7578125, 97.59449768066406 ]
3.133333
94
0
94
0
[ -0.3515625, 70.751953125, 89.6484375, -43.681640625, 181.93359375, 98.07339477539062 ]
[ -0.17578125, 69.2578125, 95.9765625, -42.01171875, 181.7578125, 97.59449768066406 ]
3.166667
95
0
95
0
[ -0.3515625, 70.6640625, 89.560546875, -43.857421875, 181.845703125, 98.07339477539062 ]
[ -0.17578125, 68.994140625, 95.625, -42.01171875, 181.7578125, 97.59449768066406 ]
3.2
96
0
96
0
[ -0.3515625, 70.576171875, 89.47265625, -44.12109375, 181.845703125, 98.07339477539062 ]
[ -0.17578125, 68.818359375, 95.2734375, -42.01171875, 181.7578125, 97.59449768066406 ]
3.233333
97
0
97
0
[ -0.3515625, 70.48828125, 89.47265625, -44.208984375, 181.845703125, 98.07339477539062 ]
[ -0.17578125, 68.5546875, 94.74609375, -42.099609375, 181.7578125, 97.59449768066406 ]
3.266667
98
0
98
0
[ -0.3515625, 70.400390625, 89.384765625, -44.296875, 181.845703125, 98.07339477539062 ]
[ -0.17578125, 68.5546875, 94.39453125, -42.451171875, 181.7578125, 97.59449768066406 ]
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": 1,
    "total_frames": 250,
    "total_tasks": 1,
    "total_videos": 1,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "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.keyboard_camera": {
            "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": "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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