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Datasets:
ZeroShotLaz
/
so100_bimanual_coffee2

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
124
frame_index
int64
0
3.73k
episode_index
int64
0
5
index
int64
0
15.4k
task_index
int64
0
0
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[ 4.833984375, 161.279296875, 141.6796875, 83.935546875, -192.12890625, -4.742268085479736, 1.845703125, 172.001953125, 151.787109375, 84.7265625, 182.548828125, -1.6032063961029053 ]
[ 4.833984375, 171.474609375, 155.91796875, 79.27734375, -180.439453125, -3.223545789718628, 1.93359375, 183.603515625, 165.322265625, 80.5078125, 183.427734375, -1.824561357498169 ]
2.666667
80
0
80
0
[ 4.833984375, 159.43359375, 139.5703125, 84.55078125, -192.12890625, -4.742268085479736, 1.845703125, 167.6953125, 147.48046875, 86.396484375, 182.109375, -1.102204442024231 ]
[ 4.833984375, 168.310546875, 152.314453125, 80.859375, -180.439453125, -3.223545789718628, 1.93359375, 180.791015625, 162.421875, 81.826171875, 183.1640625, -1.824561357498169 ]
2.7
81
0
81
0
[ 4.5703125, 157.763671875, 137.900390625, 84.7265625, -192.12890625, -4.639174938201904, 1.845703125, 164.00390625, 143.26171875, 87.978515625, 181.58203125, -0.10020039975643158 ]
[ 4.833984375, 165.41015625, 148.88671875, 82.177734375, -180.439453125, -3.223545789718628, 1.93359375, 177.71484375, 159.345703125, 83.14453125, 182.98828125, -1.6842104196548462 ]
2.733333
82
0
82
0
[ 4.130859375, 156.09375, 136.142578125, 84.814453125, -191.42578125, -3.298969268798828, 1.845703125, 160.83984375, 139.5703125, 89.296875, 180.87890625, 1.2024047374725342 ]
[ 4.833984375, 162.94921875, 145.8984375, 83.056640625, -180.439453125, -3.223545789718628, 1.93359375, 173.84765625, 155.56640625, 84.814453125, 182.63671875, -1.3333333730697632 ]
2.766667
83
0
83
0
[ 3.603515625, 153.984375, 134.208984375, 84.90234375, -190.634765625, -1.5463917255401611, 2.109375, 158.02734375, 136.669921875, 90, 179.82421875, 3.406813621520996 ]
[ 4.833984375, 160.83984375, 143.349609375, 83.671875, -180.439453125, -3.223545789718628, 1.93359375, 170.244140625, 151.611328125, 86.1328125, 182.197265625, -0.7017543911933899 ]
2.8
84
0
84
0
[ 2.8125, 151.69921875, 131.923828125, 85.166015625, -189.228515625, 1.4432990550994873, 3.427734375, 155.654296875, 134.47265625, 90.087890625, 176.8359375, 6.7134270668029785 ]
[ 4.833984375, 158.818359375, 141.240234375, 84.0234375, -180.439453125, -3.013314723968506, 1.93359375, 166.728515625, 147.744140625, 87.626953125, 181.669921875, 0.07017543911933899 ]
2.833333
85
0
85
0
[ 1.494140625, 149.0625, 129.462890625, 85.341796875, -186.6796875, 5.773196220397949, 5.361328125, 153.720703125, 132.802734375, 89.47265625, 172.79296875, 9.919838905334473 ]
[ 4.482421875, 156.533203125, 139.130859375, 84.375, -180.439453125, -2.242466688156128, 1.93359375, 163.30078125, 144.052734375, 88.59375, 180.87890625, 1.1929824352264404 ]
2.866667
86
0
86
0
[ -0.17578125, 146.42578125, 126.9140625, 85.4296875, -183.427734375, 9.484536170959473, 7.55859375, 151.69921875, 131.484375, 88.41796875, 168.75, 12.825651168823242 ]
[ 3.779296875, 154.16015625, 136.845703125, 84.638671875, -180.439453125, -0.8409250378608704, 2.197265625, 160.224609375, 141.064453125, 88.9453125, 179.384765625, 3.3684208393096924 ]
2.9
87
0
87
0
[ -2.197265625, 143.7890625, 124.453125, 85.4296875, -179.296875, 12.474226951599121, 9.931640625, 149.58984375, 130.25390625, 87.1875, 164.35546875, 14.428858757019043 ]
[ 2.724609375, 152.05078125, 134.6484375, 84.814453125, -180.439453125, 0.9810792207717896, 3.779296875, 157.587890625, 138.33984375, 88.9453125, 177.099609375, 5.964911937713623 ]
2.933333
88
0
88
0
[ -4.39453125, 141.328125, 122.080078125, 84.990234375, -174.462890625, 14.84536075592041, 12.041015625, 147.744140625, 129.287109375, 85.78125, 160.400390625, 17.635271072387695 ]
[ 1.40625, 149.677734375, 132.36328125, 85.078125, -180.439453125, 4.134548187255859, 5.44921875, 155.21484375, 136.318359375, 88.76953125, 174.0234375, 8.63157844543457 ]
2.966667
89
0
89
0
[ -6.328125, 138.955078125, 120.05859375, 84.287109375, -170.068359375, 16.80412483215332, 13.7109375, 146.25, 128.759765625, 84.111328125, 157.060546875, 20.64128303527832 ]
[ -0.17578125, 147.216796875, 129.814453125, 85.166015625, -179.82421875, 7.147862911224365, 7.470703125, 152.841796875, 134.6484375, 87.890625, 170.419921875, 11.01754379272461 ]
3
90
0
90
0
[ -7.91015625, 136.58203125, 118.125, 83.49609375, -166.11328125, 18.556699752807617, 15.380859375, 144.931640625, 128.49609375, 82.177734375, 153.984375, 21.743486404418945 ]
[ -1.93359375, 144.580078125, 127.44140625, 85.166015625, -178.06640625, 10.231254577636719, 9.4921875, 150.8203125, 133.41796875, 86.8359375, 166.728515625, 13.684209823608398 ]
3.033333
91
0
91
0
[ -8.876953125, 134.47265625, 116.71875, 82.6171875, -162.861328125, 19.587629318237305, 16.611328125, 143.525390625, 128.49609375, 80.244140625, 151.435546875, 23.246492385864258 ]
[ -4.04296875, 142.20703125, 125.15625, 84.814453125, -175.166015625, 12.754029273986816, 11.6015625, 148.7109375, 132.36328125, 85.60546875, 163.037109375, 16.280702590942383 ]
3.066667
92
0
92
0
[ -9.228515625, 133.06640625, 116.015625, 81.474609375, -161.54296875, 20.30927848815918, 17.40234375, 142.20703125, 128.49609375, 78.3984375, 149.23828125, 25.450902938842773 ]
[ -5.888671875, 139.833984375, 123.046875, 84.287109375, -171.650390625, 15.066573143005371, 13.359375, 146.689453125, 131.748046875, 84.111328125, 159.521484375, 18.66666603088379 ]
3.1
93
0
93
0
[ -9.228515625, 132.01171875, 115.927734375, 80.244140625, -160.927734375, 20.82474136352539, 17.841796875, 140.712890625, 128.583984375, 76.728515625, 147.3046875, 26.352706909179688 ]
[ -7.294921875, 137.4609375, 121.201171875, 83.671875, -168.310546875, 17.028730392456055, 14.765625, 145.283203125, 131.484375, 82.353515625, 156.357421875, 20.561403274536133 ]
3.133333
94
0
94
0
[ -9.228515625, 131.044921875, 115.927734375, 78.92578125, -160.3125, 21.23711395263672, 18.017578125, 139.5703125, 128.84765625, 75.05859375, 145.8984375, 26.853708267211914 ]
[ -7.91015625, 135.439453125, 119.8828125, 82.705078125, -165.498046875, 18.290119171142578, 15.8203125, 143.876953125, 131.30859375, 80.68359375, 153.45703125, 22.456140518188477 ]
3.166667
95
0
95
0
[ -9.228515625, 130.166015625, 115.927734375, 77.6953125, -159.697265625, 21.44329833984375, 18.28125, 138.515625, 129.19921875, 73.564453125, 144.404296875, 26.853708267211914 ]
[ -8.0859375, 133.76953125, 119.35546875, 81.73828125, -163.740234375, 19.201120376586914, 16.5234375, 142.470703125, 131.30859375, 79.013671875, 150.908203125, 24.070175170898438 ]
3.2
96
0
96
0
[ -9.404296875, 129.375, 115.927734375, 76.552734375, -159.169921875, 21.44329833984375, 18.6328125, 137.197265625, 129.19921875, 72.333984375, 142.470703125, 27.154308319091797 ]
[ -8.173828125, 132.451171875, 119.00390625, 80.595703125, -162.421875, 19.971969604492188, 17.138671875, 140.9765625, 131.30859375, 77.34375, 148.88671875, 25.052631378173828 ]
3.233333
97
0
97
0
[ -9.580078125, 128.583984375, 115.927734375, 75.498046875, -158.642578125, 21.44329833984375, 19.072265625, 136.142578125, 129.19921875, 71.19140625, 140.625, 27.454910278320312 ]
[ -8.525390625, 131.30859375, 118.828125, 79.365234375, -161.3671875, 20.462509155273438, 17.490234375, 139.921875, 131.30859375, 75.673828125, 147.12890625, 25.6842098236084 ]
3.266667
98
0
98
0
[ -9.66796875, 127.880859375, 115.927734375, 74.970703125, -158.466796875, 21.44329833984375, 19.599609375, 135.087890625, 129.19921875, 69.9609375, 138.515625, 27.755510330200195 ]
[ -8.876953125, 130.341796875, 118.740234375, 78.22265625, -160.48828125, 20.742816925048828, 17.841796875, 138.603515625, 131.30859375, 74.267578125, 145.107421875, 26.245615005493164 ]
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_bimanual",
    "total_episodes": 6,
    "total_frames": 15411,
    "total_tasks": 1,
    "total_videos": 6,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:6"
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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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            "names": [
                "left_shoulder_pan",
                "left_shoulder_lift",
                "left_elbow_flex",
                "left_wrist_flex",
                "left_wrist_roll",
                "left_gripper",
                "right_shoulder_pan",
                "right_shoulder_lift",
                "right_elbow_flex",
                "right_wrist_flex",
                "right_wrist_roll",
                "right_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                12
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            "names": [
                "left_shoulder_pan",
                "left_shoulder_lift",
                "left_elbow_flex",
                "left_wrist_flex",
                "left_wrist_roll",
                "left_gripper",
                "right_shoulder_pan",
                "right_shoulder_lift",
                "right_elbow_flex",
                "right_wrist_flex",
                "right_wrist_roll",
                "right_gripper"
            ]
        },
        "observation.images.laptop": {
            "dtype": "video",
            "shape": [
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                640,
                3
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            "names": [
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                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
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        },
        "timestamp": {
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            "shape": [
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            "names": null
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        "frame_index": {
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            "names": null
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        "episode_index": {
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            "names": null
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        "index": {
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        "task_index": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
apache-2.0
Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
15,411