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Datasets:
Cidoyi
/
so100_4

Tasks:
Robotics
Modalities:
Tabular
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< 1K
Tags:
LeRobot
so100
tutorial
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pandas
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action
sequence
observation.state
sequence
timestamp
float32
0
8.13
frame_index
int64
0
244
episode_index
int64
0
0
index
int64
0
244
task_index
int64
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0
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[ -32.6953125, 120.673828125, 155.478515625, -32.51953125, 182.98828125, 96.99312591552734 ]
2.4
72
0
72
0
[ -32.87109375, 119.1796875, 150.8203125, -34.189453125, 193.359375, 96.97248077392578 ]
[ -32.6953125, 119.8828125, 155.126953125, -32.51953125, 182.98828125, 97.16494750976562 ]
2.433333
73
0
73
0
[ -32.87109375, 118.740234375, 150.8203125, -34.189453125, 193.18359375, 96.97248077392578 ]
[ -32.6953125, 119.70703125, 154.86328125, -32.51953125, 182.98828125, 97.25086212158203 ]
2.466667
74
0
74
0
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[ -32.6953125, 119.267578125, 154.51171875, -32.51953125, 182.98828125, 97.3367691040039 ]
2.5
75
0
75
0
[ -32.783203125, 117.94921875, 150.8203125, -34.189453125, 192.568359375, 96.97248077392578 ]
[ -32.6953125, 118.65234375, 154.248046875, -32.51953125, 182.98828125, 97.3367691040039 ]
2.533333
76
0
76
0
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[ -32.6953125, 118.212890625, 154.072265625, -32.51953125, 182.98828125, 97.25086212158203 ]
2.566667
77
0
77
0
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[ -32.6953125, 117.861328125, 153.984375, -32.51953125, 182.98828125, 97.25086212158203 ]
2.6
78
0
78
0
[ -32.783203125, 117.509765625, 151.171875, -34.189453125, 192.12890625, 96.97248077392578 ]
[ -32.6953125, 117.685546875, 153.896484375, -32.51953125, 182.98828125, 97.25086212158203 ]
2.633333
79
0
79
0
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[ -32.6953125, 117.509765625, 153.896484375, -32.6953125, 182.98828125, 97.25086212158203 ]
2.666667
80
0
80
0
[ -32.87109375, 117.509765625, 151.34765625, -34.189453125, 192.12890625, 96.97248077392578 ]
[ -32.6953125, 117.333984375, 153.896484375, -32.958984375, 182.98828125, 97.25086212158203 ]
2.7
81
0
81
0
[ -32.958984375, 117.333984375, 151.34765625, -34.189453125, 192.12890625, 96.97248077392578 ]
[ -32.6953125, 117.24609375, 153.896484375, -33.134765625, 182.98828125, 97.3367691040039 ]
2.733333
82
0
82
0
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[ -32.6953125, 117.0703125, 153.896484375, -33.22265625, 182.98828125, 97.3367691040039 ]
2.766667
83
0
83
0
[ -32.958984375, 116.982421875, 151.435546875, -34.189453125, 192.041015625, 96.97248077392578 ]
[ -32.6953125, 117.0703125, 153.896484375, -33.22265625, 182.98828125, 97.3367691040039 ]
2.8
84
0
84
0
[ -33.046875, 116.89453125, 151.435546875, -34.1015625, 191.953125, 96.97248077392578 ]
[ -32.6953125, 116.71875, 153.896484375, -33.310546875, 182.98828125, 97.25086212158203 ]
2.833333
85
0
85
0
[ -33.22265625, 116.982421875, 151.435546875, -34.013671875, 191.953125, 96.97248077392578 ]
[ -32.6953125, 116.71875, 153.896484375, -33.310546875, 182.98828125, 97.25086212158203 ]
2.866667
86
0
86
0
[ -33.3984375, 117.158203125, 151.5234375, -34.013671875, 191.953125, 96.97248077392578 ]
[ -32.6953125, 116.71875, 153.896484375, -33.310546875, 182.98828125, 97.25086212158203 ]
2.9
87
0
87
0
[ -33.57421875, 117.333984375, 151.5234375, -34.013671875, 191.953125, 96.97248077392578 ]
[ -32.6953125, 116.71875, 153.896484375, -33.310546875, 182.98828125, 97.25086212158203 ]
2.933333
88
0
88
0
[ -33.57421875, 117.421875, 151.5234375, -34.013671875, 191.953125, 96.97248077392578 ]
[ -32.6953125, 116.71875, 153.896484375, -33.310546875, 182.98828125, 97.25086212158203 ]
2.966667
89
0
89
0
[ -33.57421875, 117.509765625, 151.5234375, -34.1015625, 191.953125, 96.97248077392578 ]
[ -32.783203125, 116.71875, 153.896484375, -33.310546875, 182.98828125, 97.25086212158203 ]
3
90
0
90
0
[ -33.57421875, 117.685546875, 151.259765625, -34.189453125, 191.953125, 96.97248077392578 ]
[ -32.87109375, 116.71875, 153.896484375, -33.310546875, 182.900390625, 97.25086212158203 ]
3.033333
91
0
91
0
[ -33.75, 117.861328125, 150.99609375, -34.189453125, 191.953125, 96.97248077392578 ]
[ -33.046875, 116.71875, 153.896484375, -33.310546875, 182.900390625, 97.25086212158203 ]
3.066667
92
0
92
0
[ -33.92578125, 118.30078125, 150.732421875, -34.189453125, 191.953125, 96.97248077392578 ]
[ -33.134765625, 116.71875, 153.896484375, -33.310546875, 182.900390625, 97.25086212158203 ]
3.1
93
0
93
0
[ -34.1015625, 118.916015625, 150.46875, -34.365234375, 191.953125, 96.97248077392578 ]
[ -33.134765625, 116.71875, 153.896484375, -33.310546875, 182.900390625, 97.25086212158203 ]
3.133333
94
0
94
0
[ -34.27734375, 119.70703125, 150.205078125, -34.365234375, 191.953125, 96.97248077392578 ]
[ -33.310546875, 116.71875, 153.80859375, -33.310546875, 182.900390625, 97.25086212158203 ]
3.166667
95
0
95
0
[ -34.27734375, 120.673828125, 149.94140625, -34.365234375, 191.953125, 96.97248077392578 ]
[ -33.486328125, 116.806640625, 153.720703125, -33.310546875, 182.900390625, 97.3367691040039 ]
3.2
96
0
96
0
[ -34.453125, 121.728515625, 149.677734375, -34.365234375, 191.953125, 96.97248077392578 ]
[ -33.75, 116.982421875, 153.720703125, -33.310546875, 182.900390625, 97.3367691040039 ]
3.233333
97
0
97
0
[ -34.62890625, 123.046875, 149.4140625, -34.365234375, 191.865234375, 96.97248077392578 ]
[ -33.92578125, 117.59765625, 153.6328125, -33.310546875, 182.900390625, 97.3367691040039 ]
3.266667
98
0
98
0
[ -34.62890625, 124.189453125, 149.150390625, -34.453125, 191.42578125, 96.97248077392578 ]
[ -34.1015625, 118.564453125, 153.6328125, -33.310546875, 182.900390625, 97.3367691040039 ]
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": 245,
    "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": {
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            "shape": [
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            ],
            "names": null
        },
        "index": {
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            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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