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Datasets:
kantine
/
so100_test_2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
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Size:
1K - 10K
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
19
index
int64
0
8.96k
task_index
int64
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[ -33.486328125, 87.01171875, 156.708984375, -37.880859375, -93.603515625, 17.37677574157715 ]
2.333333
70
0
70
0
[ -33.486328125, 88.330078125, 156.4453125, -39.111328125, -93.427734375, 0.0959692895412445 ]
[ -33.046875, 87.01171875, 156.708984375, -38.408203125, -93.1640625, 15.538846969604492 ]
2.366667
71
0
71
0
[ -33.046875, 88.330078125, 156.357421875, -39.111328125, -93.427734375, 0.0959692895412445 ]
[ -33.134765625, 87.1875, 155.56640625, -39.111328125, -93.251953125, 12.280701637268066 ]
2.4
72
0
72
0
[ -32.51953125, 88.41796875, 156.357421875, -39.111328125, -93.427734375, 0.0959692895412445 ]
[ -33.046875, 87.1875, 156.09375, -38.3203125, -93.515625, 11.445280075073242 ]
2.433333
73
0
73
0
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[ -33.134765625, 87.36328125, 156.62109375, -38.3203125, -93.427734375, 11.445280075073242 ]
2.466667
74
0
74
0
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[ -32.783203125, 87.275390625, 156.533203125, -38.583984375, -93.1640625, 11.445280075073242 ]
2.5
75
0
75
0
[ -31.201171875, 88.9453125, 156.005859375, -38.056640625, -93.8671875, 0.0959692895412445 ]
[ -32.34375, 87.275390625, 156.533203125, -38.671875, -93.33984375, 11.445280075073242 ]
2.533333
76
0
76
0
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[ -31.904296875, 87.275390625, 156.533203125, -38.49609375, -93.076171875, 11.445280075073242 ]
2.566667
77
0
77
0
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[ -31.728515625, 87.275390625, 156.533203125, -38.3203125, -93.427734375, 11.445280075073242 ]
2.6
78
0
78
0
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[ -31.376953125, 87.71484375, 156.09375, -37.08984375, -93.603515625, 11.445280075073242 ]
2.633333
79
0
79
0
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[ -30.9375, 87.802734375, 155.91796875, -36.73828125, -93.33984375, 11.445280075073242 ]
2.666667
80
0
80
0
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[ -30.673828125, 87.890625, 156.005859375, -36.826171875, -93.69140625, 11.445280075073242 ]
2.7
81
0
81
0
[ -29.1796875, 92.109375, 155.830078125, -34.98046875, -93.8671875, 0.0959692895412445 ]
[ -30.322265625, 88.505859375, 155.830078125, -35.5078125, -93.69140625, 11.445280075073242 ]
2.733333
82
0
82
0
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[ -29.8828125, 88.681640625, 155.7421875, -35.33203125, -93.1640625, 11.445280075073242 ]
2.766667
83
0
83
0
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[ -29.443359375, 89.384765625, 155.7421875, -34.716796875, -93.427734375, 11.445280075073242 ]
2.8
84
0
84
0
[ -25.927734375, 97.470703125, 156.97265625, -33.75, -93.251953125, 0.0959692895412445 ]
[ -28.65234375, 90.263671875, 156.181640625, -34.365234375, -93.33984375, 11.445280075073242 ]
2.833333
85
0
85
0
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[ -27.509765625, 91.0546875, 156.357421875, -34.013671875, -93.251953125, 11.445280075073242 ]
2.866667
86
0
86
0
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[ -26.19140625, 92.4609375, 156.4453125, -33.310546875, -93.251953125, 11.445280075073242 ]
2.9
87
0
87
0
[ -21.796875, 104.0625, 157.5, -29.267578125, -92.724609375, 0.0959692895412445 ]
[ -24.697265625, 94.306640625, 156.884765625, -32.51953125, -93.251953125, 11.445280075073242 ]
2.933333
88
0
88
0
[ -20.56640625, 106.875, 157.5, -27.24609375, -92.109375, 0.0959692895412445 ]
[ -23.466796875, 96.328125, 157.1484375, -31.2890625, -92.900390625, 11.445280075073242 ]
2.966667
89
0
89
0
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[ -22.412109375, 98.349609375, 157.236328125, -29.8828125, -92.548828125, 11.445280075073242 ]
3
90
0
90
0
[ -18.45703125, 112.5, 157.763671875, -24.2578125, -90.52734375, 0.0959692895412445 ]
[ -21.181640625, 100.458984375, 157.236328125, -28.564453125, -92.109375, 11.445280075073242 ]
3.033333
91
0
91
0
[ -17.666015625, 115.927734375, 158.115234375, -22.236328125, -89.6484375, 0.0959692895412445 ]
[ -19.951171875, 103.0078125, 157.236328125, -26.806640625, -91.318359375, 11.445280075073242 ]
3.066667
92
0
92
0
[ -16.69921875, 119.70703125, 158.90625, -20.7421875, -88.76953125, 0.0959692895412445 ]
[ -18.720703125, 105.732421875, 157.236328125, -25.400390625, -90.439453125, 11.445280075073242 ]
3.1
93
0
93
0
[ -15.732421875, 123.3984375, 160.048828125, -19.16015625, -88.06640625, 0.0959692895412445 ]
[ -17.490234375, 108.6328125, 157.939453125, -23.90625, -89.560546875, 11.445280075073242 ]
3.133333
94
0
94
0
[ -14.677734375, 127.44140625, 161.279296875, -17.05078125, -87.451171875, 0.0959692895412445 ]
[ -16.69921875, 111.62109375, 158.291015625, -21.884765625, -88.9453125, 11.445280075073242 ]
3.166667
95
0
95
0
[ -13.53515625, 131.220703125, 162.7734375, -15.380859375, -87.099609375, 0.0959692895412445 ]
[ -15.99609375, 115.048828125, 159.345703125, -20.478515625, -88.330078125, 11.445280075073242 ]
3.2
96
0
96
0
[ -12.12890625, 135.087890625, 164.35546875, -13.623046875, -86.66015625, 0.0959692895412445 ]
[ -14.853515625, 118.828125, 160.751953125, -18.984375, -87.802734375, 11.445280075073242 ]
3.233333
97
0
97
0
[ -10.810546875, 138.603515625, 165.76171875, -11.953125, -86.572265625, 0.0959692895412445 ]
[ -13.798828125, 122.6953125, 161.89453125, -16.962890625, -87.36328125, 11.445280075073242 ]
3.266667
98
0
98
0
[ -9.4921875, 141.85546875, 166.9921875, -10.1953125, -86.748046875, 0.0959692895412445 ]
[ -12.48046875, 126.5625, 163.212890625, -14.94140625, -86.748046875, 11.445280075073242 ]
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": 20,
    "total_frames": 8960,
    "total_tasks": 1,
    "total_videos": 20,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:20"
    },
    "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": [
                6
            ],
            "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.logitech": {
            "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": [
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            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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