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Datasets:
joooonhocho
/
so100_doll_in_bowl_2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
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Dask
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action
sequence
observation.state
sequence
timestamp
float32
0
19.9
frame_index
int64
0
598
episode_index
int64
0
49
index
int64
0
29.9k
task_index
int64
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0
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[ -4.658203125, 147.83203125, 149.765625, 53.876953125, 82.265625, 23.509075164794922 ]
2.433333
73
0
73
0
[ -4.39453125, 148.18359375, 148.798828125, 54.228515625, 81.9140625, 23.113964080810547 ]
[ -4.658203125, 147.83203125, 149.765625, 53.876953125, 82.265625, 23.509075164794922 ]
2.466667
74
0
74
0
[ -4.306640625, 148.18359375, 148.798828125, 54.228515625, 81.826171875, 23.113964080810547 ]
[ -4.658203125, 147.83203125, 149.765625, 53.876953125, 82.265625, 23.509075164794922 ]
2.5
75
0
75
0
[ -4.306640625, 148.18359375, 148.7109375, 54.228515625, 81.826171875, 23.113964080810547 ]
[ -4.658203125, 147.83203125, 149.765625, 53.876953125, 82.265625, 23.509075164794922 ]
2.533333
76
0
76
0
[ -4.306640625, 148.18359375, 148.623046875, 54.228515625, 81.826171875, 23.274478912353516 ]
[ -4.658203125, 147.83203125, 149.765625, 53.876953125, 82.265625, 23.509075164794922 ]
2.566667
77
0
77
0
[ -4.482421875, 148.18359375, 148.53515625, 54.228515625, 81.826171875, 23.274478912353516 ]
[ -4.658203125, 147.83203125, 149.765625, 53.876953125, 82.265625, 23.509075164794922 ]
2.6
78
0
78
0
[ -4.74609375, 148.18359375, 148.53515625, 54.228515625, 82.353515625, 23.274478912353516 ]
[ -4.658203125, 147.83203125, 149.765625, 53.876953125, 82.265625, 23.509075164794922 ]
2.633333
79
0
79
0
[ -4.833984375, 148.271484375, 148.7109375, 54.228515625, 82.44140625, 23.43499183654785 ]
[ -4.658203125, 147.83203125, 149.765625, 53.876953125, 82.265625, 23.509075164794922 ]
2.666667
80
0
80
0
[ -4.921875, 148.271484375, 148.798828125, 54.228515625, 82.44140625, 23.515249252319336 ]
[ -4.658203125, 147.83203125, 149.765625, 53.876953125, 82.265625, 23.509075164794922 ]
2.7
81
0
81
0
[ -4.921875, 148.271484375, 148.798828125, 54.228515625, 81.826171875, 23.515249252319336 ]
[ -4.658203125, 147.83203125, 149.765625, 53.876953125, 82.265625, 23.509075164794922 ]
2.733333
82
0
82
0
[ -4.921875, 148.271484375, 148.623046875, 54.228515625, 81.826171875, 23.515249252319336 ]
[ -4.658203125, 147.83203125, 149.765625, 53.876953125, 82.265625, 23.509075164794922 ]
2.766667
83
0
83
0
[ -4.921875, 148.271484375, 148.359375, 54.228515625, 81.73828125, 23.515249252319336 ]
[ -4.658203125, 147.83203125, 149.765625, 53.876953125, 82.265625, 23.509075164794922 ]
2.8
84
0
84
0
[ -4.833984375, 148.271484375, 148.18359375, 54.228515625, 81.73828125, 23.515249252319336 ]
[ -4.658203125, 147.83203125, 149.765625, 53.876953125, 82.265625, 23.509075164794922 ]
2.833333
85
0
85
0
[ -4.482421875, 148.271484375, 148.0078125, 54.228515625, 81.73828125, 23.515249252319336 ]
[ -4.658203125, 147.83203125, 149.765625, 53.876953125, 82.265625, 23.509075164794922 ]
2.866667
86
0
86
0
[ -4.306640625, 148.271484375, 148.0078125, 54.228515625, 81.73828125, 23.595504760742188 ]
[ -4.658203125, 147.83203125, 149.765625, 53.876953125, 82.265625, 23.509075164794922 ]
2.9
87
0
87
0
[ -4.21875, 148.095703125, 148.0078125, 54.228515625, 82.001953125, 23.595504760742188 ]
[ -4.658203125, 147.83203125, 149.765625, 53.876953125, 82.265625, 23.509075164794922 ]
2.933333
88
0
88
0
[ -4.21875, 147.744140625, 148.0078125, 54.404296875, 82.08984375, 23.595504760742188 ]
[ -4.658203125, 147.83203125, 149.765625, 53.876953125, 82.265625, 23.509075164794922 ]
2.966667
89
0
89
0
[ -4.21875, 147.744140625, 148.0078125, 54.4921875, 82.08984375, 23.595504760742188 ]
[ -4.658203125, 147.83203125, 149.765625, 53.876953125, 82.265625, 23.509075164794922 ]
3
90
0
90
0
[ -4.21875, 147.744140625, 147.919921875, 54.931640625, 81.826171875, 23.595504760742188 ]
[ -4.658203125, 147.83203125, 149.765625, 53.96484375, 82.265625, 23.509075164794922 ]
3.033333
91
0
91
0
[ -4.21875, 148.18359375, 147.744140625, 55.634765625, 81.650390625, 23.595504760742188 ]
[ -4.658203125, 147.83203125, 149.765625, 54.140625, 82.265625, 23.509075164794922 ]
3.066667
92
0
92
0
[ -4.306640625, 148.18359375, 147.12890625, 56.513671875, 81.650390625, 23.595504760742188 ]
[ -4.658203125, 147.83203125, 149.765625, 54.4921875, 82.265625, 23.509075164794922 ]
3.1
93
0
93
0
[ -4.482421875, 148.18359375, 145.986328125, 57.65625, 81.5625, 23.675762176513672 ]
[ -4.658203125, 147.83203125, 149.765625, 55.01953125, 82.265625, 23.509075164794922 ]
3.133333
94
0
94
0
[ -4.5703125, 147.919921875, 144.404296875, 59.150390625, 81.5625, 23.675762176513672 ]
[ -4.658203125, 147.83203125, 149.23828125, 55.810546875, 82.265625, 23.509075164794922 ]
3.166667
95
0
95
0
[ -4.658203125, 147.65625, 142.55859375, 60.64453125, 81.5625, 23.675762176513672 ]
[ -4.658203125, 147.83203125, 148.447265625, 56.689453125, 82.265625, 23.509075164794922 ]
3.2
96
0
96
0
[ -4.658203125, 147.48046875, 140.361328125, 62.314453125, 81.5625, 23.675762176513672 ]
[ -4.658203125, 147.83203125, 147.216796875, 57.83203125, 82.265625, 23.509075164794922 ]
3.233333
97
0
97
0
[ -4.658203125, 147.48046875, 138.251953125, 63.80859375, 81.5625, 23.675762176513672 ]
[ -4.658203125, 147.744140625, 145.634765625, 59.150390625, 82.265625, 23.509075164794922 ]
3.266667
98
0
98
0
[ -4.39453125, 147.48046875, 136.318359375, 65.302734375, 81.5625, 23.675762176513672 ]
[ -4.5703125, 147.65625, 143.61328125, 60.64453125, 82.265625, 23.509075164794922 ]
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": 50,
    "total_frames": 29900,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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.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",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.phone": {
            "dtype": "video",
            "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": [
                1
            ],
            "names": null
        },
        "index": {
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                1
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        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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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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Size of the auto-converted Parquet files:
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Number of rows:
29,900