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Datasets:
sihyun77
/
so100_realtest3

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
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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17.8
frame_index
int64
0
535
episode_index
int64
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4
index
int64
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1.78k
task_index
int64
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[ 34.716796875, 97.294921875, 86.66015625, 49.658203125, -110.478515625, 41.69230651855469 ]
2.433333
73
0
73
0
[ 35.15625, 94.21875, 86.923828125, 47.8125, -148.798828125, 42.71217727661133 ]
[ 34.716796875, 97.294921875, 86.30859375, 49.658203125, -110.478515625, 41.769229888916016 ]
2.466667
74
0
74
0
[ 35.33203125, 94.21875, 86.748046875, 46.93359375, -149.4140625, 42.71217727661133 ]
[ 34.716796875, 97.294921875, 85.95703125, 48.955078125, -110.478515625, 41.769229888916016 ]
2.5
75
0
75
0
[ 35.5078125, 95.009765625, 86.748046875, 45.87890625, -149.765625, 42.71217727661133 ]
[ 34.716796875, 97.294921875, 85.4296875, 47.197265625, -110.478515625, 41.769229888916016 ]
2.533333
76
0
76
0
[ 35.595703125, 95.625, 86.748046875, 45.263671875, -149.765625, 42.71217727661133 ]
[ 34.716796875, 97.294921875, 85.4296875, 46.40625, -110.478515625, 41.769229888916016 ]
2.566667
77
0
77
0
[ 35.771484375, 96.240234375, 86.748046875, 44.736328125, -149.765625, 42.71217727661133 ]
[ 34.716796875, 97.294921875, 85.4296875, 45.791015625, -110.478515625, 41.769229888916016 ]
2.6
78
0
78
0
[ 35.771484375, 96.591796875, 86.748046875, 44.208984375, -149.501953125, 42.71217727661133 ]
[ 34.716796875, 97.294921875, 85.4296875, 45.17578125, -110.478515625, 41.769229888916016 ]
2.633333
79
0
79
0
[ 35.947265625, 97.294921875, 86.748046875, 43.505859375, -149.4140625, 42.71217727661133 ]
[ 34.716796875, 97.294921875, 85.4296875, 44.6484375, -110.478515625, 41.769229888916016 ]
2.666667
80
0
80
0
[ 36.123046875, 98.26171875, 86.748046875, 42.5390625, -149.4140625, 42.71217727661133 ]
[ 34.716796875, 97.734375, 85.4296875, 44.033203125, -110.478515625, 41.769229888916016 ]
2.7
81
0
81
0
[ 36.38671875, 99.31640625, 86.748046875, 41.220703125, -149.677734375, 42.71217727661133 ]
[ 34.892578125, 98.525390625, 85.4296875, 43.2421875, -110.478515625, 41.769229888916016 ]
2.733333
82
0
82
0
[ 36.73828125, 101.6015625, 86.923828125, 38.671875, -149.94140625, 42.71217727661133 ]
[ 35.859375, 100.107421875, 85.4296875, 41.8359375, -110.478515625, 41.769229888916016 ]
2.766667
83
0
83
0
[ 36.826171875, 102.3046875, 86.923828125, 37.880859375, -149.94140625, 42.71217727661133 ]
[ 35.947265625, 101.162109375, 85.4296875, 40.166015625, -110.478515625, 41.769229888916016 ]
2.8
84
0
84
0
[ 36.73828125, 102.568359375, 86.923828125, 37.79296875, -149.58984375, 42.71217727661133 ]
[ 35.771484375, 102.568359375, 85.341796875, 38.671875, -110.478515625, 41.769229888916016 ]
2.833333
85
0
85
0
[ 36.5625, 102.919921875, 86.8359375, 37.529296875, -149.150390625, 42.71217727661133 ]
[ 35.595703125, 103.095703125, 85.341796875, 37.880859375, -110.478515625, 41.769229888916016 ]
2.866667
86
0
86
0
[ 36.298828125, 103.88671875, 86.748046875, 36.650390625, -148.7109375, 42.71217727661133 ]
[ 35.595703125, 103.095703125, 85.341796875, 37.79296875, -110.478515625, 41.769229888916016 ]
2.9
87
0
87
0
[ 35.947265625, 104.58984375, 86.748046875, 35.5078125, -148.0078125, 42.71217727661133 ]
[ 35.68359375, 103.447265625, 85.341796875, 37.353515625, -110.478515625, 41.769229888916016 ]
2.933333
88
0
88
0
[ 35.419921875, 105.732421875, 86.923828125, 33.486328125, -146.77734375, 42.71217727661133 ]
[ 35.595703125, 104.765625, 85.341796875, 36.123046875, -110.478515625, 41.769229888916016 ]
2.966667
89
0
89
0
[ 35.068359375, 106.435546875, 87.01171875, 32.51953125, -146.337890625, 42.71217727661133 ]
[ 35.33203125, 105.64453125, 85.341796875, 34.98046875, -110.478515625, 41.769229888916016 ]
3
90
0
90
0
[ 34.716796875, 106.962890625, 87.01171875, 31.904296875, -146.07421875, 42.71217727661133 ]
[ 34.98046875, 106.787109375, 85.341796875, 33.3984375, -110.478515625, 41.769229888916016 ]
3.033333
91
0
91
0
[ 34.453125, 106.962890625, 87.01171875, 31.904296875, -145.107421875, 42.4354248046875 ]
[ 34.892578125, 107.2265625, 85.341796875, 32.16796875, -110.0390625, 41.769229888916016 ]
3.066667
92
0
92
0
[ 34.013671875, 106.962890625, 86.8359375, 31.9921875, -143.96484375, 42.4354248046875 ]
[ 34.453125, 107.2265625, 85.341796875, 31.728515625, -110.126953125, 41.769229888916016 ]
3.1
93
0
93
0
[ 33.3984375, 107.05078125, 86.572265625, 31.904296875, -142.20703125, 42.34317398071289 ]
[ 33.92578125, 107.2265625, 85.341796875, 31.640625, -110.126953125, 41.769229888916016 ]
3.133333
94
0
94
0
[ 32.958984375, 107.2265625, 86.572265625, 31.728515625, -140.712890625, 42.34317398071289 ]
[ 33.837890625, 107.40234375, 85.341796875, 31.640625, -110.0390625, 41.769229888916016 ]
3.166667
95
0
95
0
[ 32.6953125, 107.490234375, 86.572265625, 31.552734375, -139.74609375, 42.34317398071289 ]
[ 33.486328125, 107.75390625, 85.341796875, 31.552734375, -110.0390625, 41.769229888916016 ]
3.2
96
0
96
0
[ 32.51953125, 107.666015625, 86.572265625, 31.552734375, -139.130859375, 39.298892974853516 ]
[ 32.958984375, 107.75390625, 85.341796875, 31.552734375, -110.0390625, 41.769229888916016 ]
3.233333
97
0
97
0
[ 32.255859375, 107.666015625, 86.396484375, 31.552734375, -138.427734375, 36.62361526489258 ]
[ 32.431640625, 107.75390625, 85.341796875, 31.552734375, -110.0390625, 41 ]
3.266667
98
0
98
0
[ 32.080078125, 107.578125, 85.95703125, 31.552734375, -137.724609375, 34.40959548950195 ]
[ 31.9921875, 107.75390625, 85.341796875, 31.552734375, -110.0390625, 38.30769348144531 ]
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": 5,
    "total_frames": 1777,
    "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": [
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                "width",
                "channels"
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            "info": {
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                "video.height": 480,
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                "video.codec": "av1",
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        },
        "observation.images.phone": {
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            "names": [
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                "channels"
            ],
            "info": {
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                "video.height": 480,
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                "video.channels": 3,
                "video.codec": "av1",
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                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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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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