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Jiafei1224
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so100_test2

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Robotics
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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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72
0
[ 23.73046875, 90.17578125, 98.61328125, 70.224609375, -65.21484375, 25.868724822998047 ]
[ 23.90625, 90.615234375, 98.61328125, 71.19140625, -65.390625, 26.10619354248047 ]
2.433333
73
0
73
0
[ 23.642578125, 89.82421875, 98.61328125, 69.9609375, -65.0390625, 25.868724822998047 ]
[ 23.994140625, 90.3515625, 98.61328125, 70.927734375, -65.478515625, 26.10619354248047 ]
2.466667
74
0
74
0
[ 23.5546875, 89.384765625, 98.61328125, 69.873046875, -65.0390625, 25.868724822998047 ]
[ 24.43359375, 90, 98.61328125, 70.6640625, -65.478515625, 26.10619354248047 ]
2.5
75
0
75
0
[ 23.466796875, 88.9453125, 98.61328125, 69.697265625, -65.0390625, 25.868724822998047 ]
[ 24.43359375, 89.47265625, 98.61328125, 70.400390625, -65.390625, 26.10619354248047 ]
2.533333
76
0
76
0
[ 23.37890625, 88.41796875, 98.701171875, 69.521484375, -64.951171875, 25.868724822998047 ]
[ 24.169921875, 89.12109375, 98.61328125, 70.400390625, -65.21484375, 26.10619354248047 ]
2.566667
77
0
77
0
[ 23.37890625, 88.06640625, 98.7890625, 69.2578125, -64.951171875, 25.868724822998047 ]
[ 23.642578125, 88.681640625, 98.61328125, 70.13671875, -65.21484375, 26.10619354248047 ]
2.6
78
0
78
0
[ 23.37890625, 87.802734375, 98.96484375, 68.818359375, -64.951171875, 25.868724822998047 ]
[ 23.291015625, 88.2421875, 98.61328125, 69.873046875, -65.21484375, 26.10619354248047 ]
2.633333
79
0
79
0
[ 23.37890625, 87.71484375, 99.31640625, 68.291015625, -64.86328125, 25.868724822998047 ]
[ 23.203125, 87.802734375, 98.876953125, 69.609375, -65.21484375, 26.10619354248047 ]
2.666667
80
0
80
0
[ 23.37890625, 87.626953125, 99.4921875, 68.02734375, -64.86328125, 25.868724822998047 ]
[ 23.37890625, 87.5390625, 99.228515625, 69.2578125, -65.302734375, 26.10619354248047 ]
2.7
81
0
81
0
[ 23.37890625, 87.5390625, 99.66796875, 67.8515625, -64.86328125, 25.868724822998047 ]
[ 23.73046875, 87.36328125, 99.31640625, 68.90625, -65.302734375, 26.10619354248047 ]
2.733333
82
0
82
0
[ 23.37890625, 87.451171875, 99.755859375, 67.763671875, -64.86328125, 25.868724822998047 ]
[ 23.90625, 87.36328125, 99.4921875, 68.5546875, -65.0390625, 26.10619354248047 ]
2.766667
83
0
83
0
[ 23.37890625, 87.451171875, 99.84375, 67.67578125, -64.86328125, 25.868724822998047 ]
[ 23.90625, 87.275390625, 99.755859375, 68.37890625, -64.86328125, 26.10619354248047 ]
2.8
84
0
84
0
[ 23.37890625, 87.451171875, 99.84375, 67.67578125, -64.86328125, 25.868724822998047 ]
[ 23.642578125, 87.1875, 99.755859375, 68.203125, -64.86328125, 26.10619354248047 ]
2.833333
85
0
85
0
[ 23.466796875, 87.451171875, 99.84375, 67.67578125, -64.951171875, 25.868724822998047 ]
[ 23.291015625, 87.1875, 99.84375, 68.203125, -64.86328125, 26.10619354248047 ]
2.866667
86
0
86
0
[ 23.5546875, 87.5390625, 99.931640625, 67.67578125, -65.0390625, 25.868724822998047 ]
[ 23.115234375, 87.1875, 99.84375, 68.02734375, -64.951171875, 26.10619354248047 ]
2.9
87
0
87
0
[ 23.642578125, 87.5390625, 99.931640625, 67.587890625, -65.0390625, 25.868724822998047 ]
[ 23.115234375, 87.1875, 99.84375, 68.02734375, -64.951171875, 26.10619354248047 ]
2.933333
88
0
88
0
[ 23.818359375, 87.5390625, 99.931640625, 67.5, -65.0390625, 25.868724822998047 ]
[ 23.115234375, 87.1875, 99.84375, 68.02734375, -64.951171875, 26.10619354248047 ]
2.966667
89
0
89
0
[ 23.90625, 87.451171875, 99.931640625, 67.5, -65.21484375, 25.868724822998047 ]
[ 23.203125, 87.1875, 99.84375, 68.02734375, -64.951171875, 26.10619354248047 ]
3
90
0
90
0
[ 24.169921875, 87.275390625, 100.01953125, 67.32421875, -65.390625, 25.868724822998047 ]
[ 23.37890625, 87.1875, 99.84375, 68.02734375, -64.951171875, 26.10619354248047 ]
3.033333
91
0
91
0
[ 24.345703125, 87.1875, 100.283203125, 66.884765625, -65.478515625, 25.868724822998047 ]
[ 23.5546875, 87.1875, 99.84375, 68.02734375, -64.951171875, 26.10619354248047 ]
3.066667
92
0
92
0
[ 24.521484375, 87.01171875, 100.546875, 66.4453125, -65.478515625, 25.868724822998047 ]
[ 23.73046875, 86.923828125, 100.107421875, 67.67578125, -65.126953125, 26.10619354248047 ]
3.1
93
0
93
0
[ 24.609375, 86.748046875, 100.72265625, 66.09375, -65.478515625, 25.868724822998047 ]
[ 23.994140625, 86.748046875, 100.458984375, 67.32421875, -65.21484375, 26.10619354248047 ]
3.133333
94
0
94
0
[ 24.697265625, 86.572265625, 100.810546875, 65.91796875, -65.478515625, 25.868724822998047 ]
[ 24.345703125, 86.572265625, 100.546875, 66.97265625, -65.21484375, 26.10619354248047 ]
3.166667
95
0
95
0
[ 24.78515625, 86.396484375, 100.8984375, 65.830078125, -65.56640625, 25.868724822998047 ]
[ 24.521484375, 86.396484375, 100.634765625, 66.62109375, -65.21484375, 26.10619354248047 ]
3.2
96
0
96
0
[ 24.78515625, 86.30859375, 101.07421875, 65.7421875, -65.56640625, 25.868724822998047 ]
[ 24.78515625, 86.30859375, 100.8984375, 66.4453125, -65.390625, 26.10619354248047 ]
3.233333
97
0
97
0
[ 24.78515625, 86.30859375, 101.162109375, 65.56640625, -65.56640625, 25.868724822998047 ]
[ 24.873046875, 86.220703125, 100.986328125, 66.357421875, -65.21484375, 26.10619354248047 ]
3.266667
98
0
98
0
[ 24.873046875, 86.30859375, 101.25, 65.56640625, -65.56640625, 25.868724822998047 ]
[ 24.9609375, 86.044921875, 101.07421875, 66.181640625, -65.478515625, 26.10619354248047 ]
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": 896,
    "total_tasks": 1,
    "total_videos": 4,
    "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.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
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        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
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                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",
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                "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",
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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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