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Datasets:
shylee
/
so100_cup

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
1
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action
sequence
observation.state
sequence
timestamp
float32
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11
frame_index
int64
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329
episode_index
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199
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41.8k
task_index
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[ 19.072265625, 103.359375, 74.53125, 69.2578125, 11.25, 27.92479133605957 ]
2.4
72
0
72
0
[ 19.6875, 103.447265625, 74.70703125, 68.466796875, 11.77734375, 17.988393783569336 ]
[ 19.16015625, 103.359375, 74.53125, 68.90625, 11.25, 26.949861526489258 ]
2.433333
73
0
73
0
[ 19.6875, 103.447265625, 74.794921875, 68.466796875, 11.865234375, 13.442939758300781 ]
[ 19.248046875, 103.359375, 74.53125, 68.818359375, 11.25, 25.069639205932617 ]
2.466667
74
0
74
0
[ 19.6875, 103.623046875, 74.8828125, 68.37890625, 11.953125, 8.60735034942627 ]
[ 19.3359375, 103.271484375, 74.53125, 68.642578125, 11.25, 22.423398971557617 ]
2.5
75
0
75
0
[ 19.6875, 103.798828125, 75.146484375, 68.37890625, 12.041015625, 3.86847186088562 ]
[ 19.51171875, 103.271484375, 74.619140625, 68.642578125, 11.25, 19.220056533813477 ]
2.533333
76
0
76
0
[ 19.6875, 104.0625, 75.322265625, 68.37890625, 12.12890625, -0.09671179950237274 ]
[ 19.6875, 103.447265625, 74.619140625, 68.642578125, 11.513671875, 15.598885536193848 ]
2.566667
77
0
77
0
[ 19.6875, 104.0625, 75.41015625, 68.291015625, 12.12890625, -0.676982581615448 ]
[ 19.775390625, 103.7109375, 74.619140625, 68.642578125, 11.689453125, 11.768802642822266 ]
2.6
78
0
78
0
[ 19.6875, 104.0625, 75.498046875, 68.291015625, 12.041015625, -1.063829779624939 ]
[ 19.775390625, 103.88671875, 74.8828125, 68.642578125, 11.689453125, 8.286908149719238 ]
2.633333
79
0
79
0
[ 19.51171875, 103.974609375, 75.498046875, 68.203125, 11.77734375, -1.353965163230896 ]
[ 19.775390625, 103.88671875, 74.8828125, 68.5546875, 11.689453125, 5.988857746124268 ]
2.666667
80
0
80
0
[ 19.3359375, 103.798828125, 75.5859375, 68.203125, 11.513671875, -1.4506769180297852 ]
[ 19.775390625, 103.88671875, 74.970703125, 68.5546875, 11.689453125, 5.013927459716797 ]
2.7
81
0
81
0
[ 19.16015625, 103.53515625, 75.5859375, 68.291015625, 11.42578125, -1.5473887920379639 ]
[ 19.775390625, 103.88671875, 74.970703125, 68.5546875, 11.689453125, 4.944289684295654 ]
2.733333
82
0
82
0
[ 18.984375, 103.0078125, 75.5859375, 68.642578125, 11.42578125, -1.6441006660461426 ]
[ 19.6875, 103.88671875, 74.970703125, 68.466796875, 11.689453125, 4.944289684295654 ]
2.766667
83
0
83
0
[ 18.80859375, 102.216796875, 75.673828125, 69.08203125, 11.337890625, -1.6441006660461426 ]
[ 19.599609375, 103.88671875, 74.970703125, 68.466796875, 11.689453125, 4.944289684295654 ]
2.8
84
0
84
0
[ 18.6328125, 101.162109375, 75.9375, 69.9609375, 11.337890625, -1.6441006660461426 ]
[ 19.51171875, 103.798828125, 74.970703125, 68.466796875, 11.689453125, 4.944289684295654 ]
2.833333
85
0
85
0
[ 18.45703125, 100.107421875, 76.552734375, 71.3671875, 11.337890625, -1.7408123016357422 ]
[ 19.51171875, 103.53515625, 74.970703125, 68.73046875, 11.689453125, 4.944289684295654 ]
2.866667
86
0
86
0
[ 18.28125, 98.96484375, 77.6953125, 73.212890625, 11.42578125, -1.7408123016357422 ]
[ 19.248046875, 103.095703125, 74.970703125, 69.2578125, 11.689453125, 4.944289684295654 ]
2.9
87
0
87
0
[ 18.28125, 97.91015625, 79.453125, 75.498046875, 11.42578125, -1.7408123016357422 ]
[ 18.984375, 102.65625, 74.970703125, 70.224609375, 11.689453125, 4.944289684295654 ]
2.933333
88
0
88
0
[ 18.369140625, 96.85546875, 81.650390625, 77.87109375, 11.513671875, -1.7408123016357422 ]
[ 18.6328125, 102.12890625, 75.234375, 71.71875, 11.689453125, 4.944289684295654 ]
2.966667
89
0
89
0
[ 18.80859375, 95.80078125, 84.111328125, 80.595703125, 11.513671875, -1.7408123016357422 ]
[ 18.45703125, 101.42578125, 76.2890625, 73.564453125, 11.689453125, 4.944289684295654 ]
3
90
0
90
0
[ 19.423828125, 95.009765625, 86.8359375, 83.232421875, 11.513671875, -1.7408123016357422 ]
[ 18.369140625, 100.458984375, 77.783203125, 75.05859375, 11.689453125, 4.944289684295654 ]
3.033333
91
0
91
0
[ 20.0390625, 94.130859375, 89.6484375, 85.95703125, 11.42578125, -1.7408123016357422 ]
[ 18.45703125, 99.404296875, 79.716796875, 77.34375, 11.689453125, 4.944289684295654 ]
3.066667
92
0
92
0
[ 20.654296875, 93.1640625, 92.197265625, 88.41796875, 11.162109375, -1.7408123016357422 ]
[ 18.80859375, 98.525390625, 81.9140625, 79.716796875, 11.689453125, 4.944289684295654 ]
3.1
93
0
93
0
[ 21.26953125, 91.845703125, 94.130859375, 90.791015625, 10.810546875, -1.7408123016357422 ]
[ 19.423828125, 97.55859375, 84.375, 82.265625, 11.689453125, 4.944289684295654 ]
3.133333
94
0
94
0
[ 21.884765625, 90, 95.44921875, 92.4609375, 10.37109375, -1.7408123016357422 ]
[ 20.126953125, 96.6796875, 86.8359375, 84.7265625, 11.6015625, 4.944289684295654 ]
3.166667
95
0
95
0
[ 22.5, 87.802734375, 96.064453125, 93.8671875, 10.107421875, -1.7408123016357422 ]
[ 20.830078125, 95.44921875, 89.12109375, 87.1875, 11.162109375, 4.944289684295654 ]
3.2
96
0
96
0
[ 23.203125, 85.341796875, 96.240234375, 95.009765625, 9.755859375, -1.7408123016357422 ]
[ 21.4453125, 93.955078125, 90.966796875, 89.384765625, 10.810546875, 4.944289684295654 ]
3.233333
97
0
97
0
[ 24.08203125, 82.96875, 96.50390625, 96.240234375, 9.404296875, -1.7408123016357422 ]
[ 21.97265625, 92.021484375, 92.197265625, 91.23046875, 10.546875, 4.944289684295654 ]
3.266667
98
0
98
0
[ 25.048828125, 81.03515625, 97.03125, 97.646484375, 9.052734375, -1.6441006660461426 ]
[ 22.412109375, 89.912109375, 93.076171875, 92.8125, 10.107421875, 4.944289684295654 ]
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": 8,
    "total_frames": 1469,
    "total_tasks": 1,
    "total_videos": 16,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:8"
    },
    "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": [
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            "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": [
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            "info": {
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                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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        "observation.images.phone": {
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            "shape": [
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                640,
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            "names": [
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                "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
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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                1
            ],
            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
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