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Datasets:
therarelab
/
med_dis_rare_5

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
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action
sequence
observation.state
sequence
timestamp
float32
0
19.2
frame_index
int64
0
577
episode_index
int64
0
4
index
int64
0
2.48k
task_index
int64
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[ -41.748046875, 121.11328125, 150.64453125, -43.154296875, 113.02734375, 71.7770004272461 ]
[ -41.8359375, 119.35546875, 147.12890625, -37.177734375, 111.09375, 70.23026275634766 ]
2.4
72
0
72
0
[ -41.66015625, 121.11328125, 151.259765625, -43.681640625, 113.115234375, 71.7770004272461 ]
[ -41.8359375, 119.35546875, 148.53515625, -38.14453125, 111.533203125, 70.23026275634766 ]
2.433333
73
0
73
0
[ -41.484375, 120.76171875, 151.611328125, -44.296875, 113.203125, 71.7770004272461 ]
[ -41.572265625, 119.35546875, 149.765625, -39.0234375, 111.97265625, 70.23026275634766 ]
2.466667
74
0
74
0
[ -41.30859375, 120.05859375, 151.962890625, -45.263671875, 113.466796875, 71.7770004272461 ]
[ -41.220703125, 119.35546875, 150.908203125, -39.7265625, 112.412109375, 70.23026275634766 ]
2.5
75
0
75
0
[ -40.869140625, 119.00390625, 152.05078125, -46.318359375, 113.642578125, 71.7770004272461 ]
[ -40.869140625, 119.35546875, 151.34765625, -40.4296875, 112.587890625, 70.23026275634766 ]
2.533333
76
0
76
0
[ -40.517578125, 117.7734375, 152.05078125, -47.63671875, 113.90625, 71.7770004272461 ]
[ -40.693359375, 119.35546875, 151.611328125, -41.30859375, 112.67578125, 70.23026275634766 ]
2.566667
77
0
77
0
[ -40.166015625, 116.279296875, 152.05078125, -49.04296875, 114.08203125, 71.7770004272461 ]
[ -40.60546875, 119.00390625, 152.05078125, -42.275390625, 112.763671875, 70.23026275634766 ]
2.6
78
0
78
0
[ -39.90234375, 114.873046875, 151.962890625, -50.537109375, 114.2578125, 71.7770004272461 ]
[ -40.693359375, 118.037109375, 152.490234375, -43.330078125, 112.763671875, 70.23026275634766 ]
2.633333
79
0
79
0
[ -39.638671875, 113.642578125, 151.69921875, -51.6796875, 114.345703125, 71.7770004272461 ]
[ -40.693359375, 116.71875, 152.578125, -44.560546875, 113.115234375, 70.23026275634766 ]
2.666667
80
0
80
0
[ -39.462890625, 112.32421875, 151.34765625, -52.734375, 114.43359375, 71.7770004272461 ]
[ -40.25390625, 115.400390625, 152.578125, -45.703125, 113.466796875, 70.23026275634766 ]
2.7
81
0
81
0
[ -39.19921875, 110.830078125, 150.908203125, -53.876953125, 114.697265625, 71.7770004272461 ]
[ -39.7265625, 113.994140625, 152.578125, -46.93359375, 113.642578125, 70.23026275634766 ]
2.733333
82
0
82
0
[ -38.935546875, 109.072265625, 150.380859375, -55.283203125, 114.78515625, 71.7770004272461 ]
[ -39.287109375, 112.763671875, 152.578125, -47.98828125, 113.818359375, 70.23026275634766 ]
2.766667
83
0
83
0
[ -38.759765625, 107.2265625, 149.677734375, -56.689453125, 114.873046875, 71.7770004272461 ]
[ -39.0234375, 111.26953125, 152.578125, -49.04296875, 113.818359375, 70.23026275634766 ]
2.8
84
0
84
0
[ -38.49609375, 105.380859375, 148.974609375, -58.0078125, 115.048828125, 71.7770004272461 ]
[ -38.84765625, 109.775390625, 152.490234375, -50.185546875, 113.818359375, 70.23026275634766 ]
2.833333
85
0
85
0
[ -38.3203125, 103.798828125, 148.271484375, -59.150390625, 115.3125, 71.7770004272461 ]
[ -38.84765625, 108.369140625, 152.490234375, -51.591796875, 113.818359375, 70.23026275634766 ]
2.866667
86
0
86
0
[ -38.232421875, 102.392578125, 147.568359375, -60.029296875, 115.400390625, 71.7770004272461 ]
[ -38.759765625, 106.611328125, 152.05078125, -52.998046875, 114.169921875, 70.23026275634766 ]
2.9
87
0
87
0
[ -38.14453125, 101.337890625, 146.865234375, -60.380859375, 115.400390625, 71.7770004272461 ]
[ -38.583984375, 104.765625, 151.5234375, -54.4921875, 114.43359375, 70.23026275634766 ]
2.933333
88
0
88
0
[ -38.14453125, 100.458984375, 146.162109375, -60.64453125, 115.48828125, 71.7770004272461 ]
[ -38.3203125, 102.83203125, 150.908203125, -55.72265625, 114.697265625, 70.23026275634766 ]
2.966667
89
0
89
0
[ -38.14453125, 99.580078125, 145.546875, -60.99609375, 115.576171875, 71.7770004272461 ]
[ -38.232421875, 101.689453125, 150.380859375, -56.337890625, 114.697265625, 70.23026275634766 ]
3
90
0
90
0
[ -38.14453125, 98.96484375, 144.931640625, -61.171875, 115.576171875, 71.7770004272461 ]
[ -38.14453125, 100.458984375, 149.765625, -56.865234375, 114.697265625, 70.23026275634766 ]
3.033333
91
0
91
0
[ -38.3203125, 98.349609375, 144.31640625, -61.259765625, 115.751953125, 71.7770004272461 ]
[ -38.232421875, 99.228515625, 149.0625, -57.216796875, 114.697265625, 70.23026275634766 ]
3.066667
92
0
92
0
[ -38.3203125, 97.734375, 143.701171875, -61.34765625, 115.83984375, 71.7770004272461 ]
[ -38.232421875, 98.26171875, 148.359375, -57.744140625, 114.697265625, 70.23026275634766 ]
3.1
93
0
93
0
[ -38.408203125, 97.119140625, 143.173828125, -61.34765625, 116.015625, 71.7770004272461 ]
[ -38.232421875, 97.734375, 147.744140625, -58.18359375, 114.697265625, 70.23026275634766 ]
3.133333
94
0
94
0
[ -38.49609375, 96.416015625, 142.646484375, -61.435546875, 116.19140625, 71.7770004272461 ]
[ -38.232421875, 97.119140625, 147.12890625, -58.447265625, 114.697265625, 70.23026275634766 ]
3.166667
95
0
95
0
[ -38.583984375, 95.537109375, 142.20703125, -61.69921875, 116.3671875, 71.7770004272461 ]
[ -38.232421875, 96.591796875, 146.6015625, -58.623046875, 115.048828125, 70.23026275634766 ]
3.2
96
0
96
0
[ -38.759765625, 94.5703125, 141.943359375, -62.314453125, 116.54296875, 71.7770004272461 ]
[ -38.232421875, 95.888671875, 145.986328125, -58.7109375, 115.3125, 70.23026275634766 ]
3.233333
97
0
97
0
[ -38.935546875, 93.779296875, 141.767578125, -62.9296875, 116.89453125, 71.7770004272461 ]
[ -38.232421875, 94.921875, 145.37109375, -58.7109375, 115.576171875, 70.23026275634766 ]
3.266667
98
0
98
0
[ -39.111328125, 93.1640625, 141.85546875, -63.45703125, 117.158203125, 71.7770004272461 ]
[ -38.232421875, 93.8671875, 144.755859375, -58.974609375, 115.6640625, 70.23026275634766 ]
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": 5,
    "total_frames": 2478,
    "total_tasks": 1,
    "total_videos": 10,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:5"
    },
    "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": [
                "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",
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                "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",
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                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
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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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Number of rows:
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