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igaewa
/
so100_test

Tasks:
Robotics
Modalities:
Tabular
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Tags:
LeRobot
so100
tutorial
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action
sequence
observation.state
sequence
timestamp
float32
0
14.9
frame_index
int64
0
447
episode_index
int64
0
1
index
int64
0
895
task_index
int64
0
0
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[ 12.3046875, 62.05078125, 73.740234375, 63.720703125, -5.44921875, 45.42333984375 ]
[ 12.12890625, 61.611328125, 75.498046875, 63.984375, -4.39453125, 45.322940826416016 ]
2.433333
73
0
73
0
[ 12.216796875, 61.611328125, 73.564453125, 63.720703125, -5.2734375, 45.42333984375 ]
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2.466667
74
0
74
0
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2.5
75
0
75
0
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2.533333
76
0
76
0
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2.566667
77
0
77
0
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2.6
78
0
78
0
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2.633333
79
0
79
0
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2.666667
80
0
80
0
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[ 12.12890625, 58.623046875, 74.35546875, 63.193359375, -4.658203125, 42.204898834228516 ]
2.7
81
0
81
0
[ 12.12890625, 58.974609375, 72.24609375, 62.841796875, -4.833984375, 40.16018295288086 ]
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2.733333
82
0
82
0
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2.766667
83
0
83
0
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[ 12.12890625, 57.919921875, 74.1796875, 62.841796875, -4.04296875, 40.311805725097656 ]
2.8
84
0
84
0
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2.833333
85
0
85
0
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[ 11.6015625, 57.568359375, 73.916015625, 62.40234375, -4.21875, 38.307350158691406 ]
2.866667
86
0
86
0
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[ 11.25, 57.392578125, 73.916015625, 62.490234375, -3.955078125, 36.85968780517578 ]
2.9
87
0
87
0
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2.933333
88
0
88
0
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2.966667
89
0
89
0
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[ 11.25, 57.392578125, 73.916015625, 61.611328125, -3.251953125, 28.730512619018555 ]
3
90
0
90
0
[ 11.77734375, 57.919921875, 72.861328125, 61.787109375, 0.263671875, 14.988558769226074 ]
[ 11.42578125, 57.392578125, 73.916015625, 61.5234375, -2.109375, 24.498886108398438 ]
3.033333
91
0
91
0
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[ 11.42578125, 57.392578125, 73.916015625, 61.34765625, -1.494140625, 21.269487380981445 ]
3.066667
92
0
92
0
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[ 11.42578125, 56.865234375, 73.916015625, 61.171875, -1.0546875, 20.267261505126953 ]
3.1
93
0
93
0
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[ 11.337890625, 56.6015625, 73.828125, 61.171875, -0.703125, 19.821826934814453 ]
3.133333
94
0
94
0
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3.166667
95
0
95
0
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3.2
96
0
96
0
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[ 11.25, 56.162109375, 73.740234375, 61.171875, -0.3515625, 19.487751007080078 ]
3.233333
97
0
97
0
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[ 11.337890625, 56.07421875, 73.740234375, 61.171875, -0.3515625, 19.153675079345703 ]
3.266667
98
0
98
0
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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": 2,
    "total_frames": 1790,
    "total_tasks": 1,
    "total_videos": 2,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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.phone": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
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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
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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