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Datasets:
therarelab
/
med_dis_rare_PickAorB

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
Libraries:
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Dask
License:
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action
sequence
observation.state
sequence
timestamp
float32
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15.3
frame_index
int64
0
458
episode_index
int64
0
29
index
int64
0
11.4k
task_index
int64
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[ -41.30859375, 145.107421875, 109.072265625, 44.033203125, 100.37109375, 1.2195121049880981 ]
[ -44.208984375, 137.900390625, 116.806640625, 42.1875, 100.37109375, 45.88815689086914 ]
2.466667
74
0
74
0
[ -39.90234375, 145.986328125, 108.6328125, 44.6484375, 100.546875, 1.2195121049880981 ]
[ -43.330078125, 138.8671875, 116.103515625, 42.890625, 100.37109375, 45.88815689086914 ]
2.5
75
0
75
0
[ -38.056640625, 146.6015625, 108.017578125, 45.615234375, 100.8984375, 1.2195121049880981 ]
[ -42.36328125, 139.833984375, 115.400390625, 43.505859375, 100.37109375, 45.88815689086914 ]
2.533333
76
0
76
0
[ -36.123046875, 147.041015625, 107.314453125, 46.669921875, 101.25, 1.2195121049880981 ]
[ -41.1328125, 140.712890625, 114.697265625, 44.033203125, 100.37109375, 45.88815689086914 ]
2.566667
77
0
77
0
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[ -39.90234375, 141.6796875, 114.169921875, 44.736328125, 100.458984375, 45.88815689086914 ]
2.6
78
0
78
0
[ -31.81640625, 147.392578125, 106.171875, 47.8125, 101.689453125, 1.2195121049880981 ]
[ -38.49609375, 142.3828125, 113.291015625, 45.615234375, 100.634765625, 45.88815689086914 ]
2.633333
79
0
79
0
[ -29.53125, 147.392578125, 105.64453125, 47.900390625, 101.865234375, 1.2195121049880981 ]
[ -36.650390625, 142.998046875, 112.67578125, 46.40625, 100.810546875, 45.88815689086914 ]
2.666667
80
0
80
0
[ -27.24609375, 146.77734375, 104.853515625, 47.900390625, 101.513671875, 1.2195121049880981 ]
[ -34.62890625, 143.525390625, 112.060546875, 46.7578125, 100.810546875, 45.88815689086914 ]
2.7
81
0
81
0
[ -25.048828125, 145.72265625, 103.53515625, 48.076171875, 101.337890625, 1.2195121049880981 ]
[ -32.607421875, 143.701171875, 111.26953125, 46.845703125, 100.810546875, 45.88815689086914 ]
2.733333
82
0
82
0
[ -22.8515625, 144.4921875, 102.12890625, 48.1640625, 100.986328125, 1.2195121049880981 ]
[ -30.498046875, 143.701171875, 110.478515625, 47.021484375, 100.810546875, 45.88815689086914 ]
2.766667
83
0
83
0
[ -20.654296875, 143.173828125, 100.8984375, 48.076171875, 100.634765625, 1.2195121049880981 ]
[ -28.212890625, 143.701171875, 109.51171875, 47.63671875, 100.72265625, 45.88815689086914 ]
2.8
84
0
84
0
[ -18.6328125, 141.85546875, 99.66796875, 47.8125, 100.1953125, 1.2195121049880981 ]
[ -26.279296875, 143.349609375, 108.6328125, 47.900390625, 100.458984375, 45.88815689086914 ]
2.833333
85
0
85
0
[ -16.611328125, 140.537109375, 98.525390625, 47.63671875, 99.84375, 1.2195121049880981 ]
[ -24.08203125, 142.646484375, 107.40234375, 47.900390625, 100.37109375, 45.88815689086914 ]
2.866667
86
0
86
0
[ -14.677734375, 139.306640625, 97.470703125, 47.197265625, 99.31640625, 1.2195121049880981 ]
[ -21.97265625, 141.591796875, 106.171875, 47.900390625, 100.107421875, 45.88815689086914 ]
2.9
87
0
87
0
[ -12.83203125, 137.98828125, 96.416015625, 47.021484375, 98.96484375, 1.2195121049880981 ]
[ -19.599609375, 140.44921875, 104.853515625, 47.98828125, 99.66796875, 45.88815689086914 ]
2.933333
88
0
88
0
[ -11.07421875, 136.7578125, 95.625, 46.669921875, 98.701171875, 1.2195121049880981 ]
[ -17.841796875, 139.306640625, 103.88671875, 47.98828125, 99.31640625, 45.88815689086914 ]
2.966667
89
0
89
0
[ -9.31640625, 135.703125, 95.185546875, 45.966796875, 98.349609375, 1.2195121049880981 ]
[ -15.8203125, 137.98828125, 102.83203125, 47.98828125, 98.876953125, 45.88815689086914 ]
3
90
0
90
0
[ -7.822265625, 134.736328125, 94.921875, 45, 97.998046875, 1.2195121049880981 ]
[ -13.88671875, 136.58203125, 101.953125, 47.8125, 98.61328125, 45.88815689086914 ]
3.033333
91
0
91
0
[ -6.240234375, 133.681640625, 94.833984375, 43.9453125, 97.55859375, 1.2195121049880981 ]
[ -12.216796875, 135.439453125, 101.25, 47.4609375, 98.26171875, 45.88815689086914 ]
3.066667
92
0
92
0
[ -4.74609375, 132.5390625, 94.5703125, 43.06640625, 97.20703125, 1.2195121049880981 ]
[ -10.37109375, 134.208984375, 100.634765625, 47.021484375, 97.91015625, 45.88815689086914 ]
3.1
93
0
93
0
[ -3.33984375, 131.396484375, 94.39453125, 42.01171875, 96.767578125, 1.2195121049880981 ]
[ -8.701171875, 133.154296875, 100.283203125, 46.318359375, 97.646484375, 45.88815689086914 ]
3.133333
94
0
94
0
[ -2.021484375, 130.341796875, 94.39453125, 41.044921875, 96.50390625, 1.2195121049880981 ]
[ -7.119140625, 132.01171875, 100.01953125, 45.703125, 97.294921875, 45.88815689086914 ]
3.166667
95
0
95
0
[ -0.615234375, 129.375, 94.39453125, 40.166015625, 96.328125, 1.2195121049880981 ]
[ -5.625, 130.95703125, 99.84375, 45, 96.943359375, 45.88815689086914 ]
3.2
96
0
96
0
[ 0.615234375, 128.3203125, 94.39453125, 39.462890625, 96.240234375, 1.2195121049880981 ]
[ -4.21875, 129.90234375, 99.755859375, 44.296875, 96.6796875, 45.88815689086914 ]
3.233333
97
0
97
0
[ 1.7578125, 127.353515625, 94.482421875, 38.671875, 96.15234375, 1.2195121049880981 ]
[ -2.900390625, 128.84765625, 99.755859375, 43.330078125, 96.50390625, 45.88815689086914 ]
3.266667
98
0
98
0
[ 2.8125, 126.474609375, 94.833984375, 37.705078125, 95.9765625, 1.2195121049880981 ]
[ -1.7578125, 127.705078125, 99.755859375, 42.36328125, 96.416015625, 45.88815689086914 ]
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": 30,
    "total_frames": 11431,
    "total_tasks": 1,
    "total_videos": 60,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:30"
    },
    "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",
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            "info": {
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                "video.height": 480,
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                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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                "has_audio": false
            }
        },
        "observation.images.phone": {
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            "shape": [
                480,
                640,
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            ],
            "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": [
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            ],
            "names": null
        },
        "index": {
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                1
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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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Number of rows:
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