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jakmilller
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so100_test

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Robotics
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LeRobot
so100
tutorial
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float32
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int64
episode_index
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index
int64
task_index
int64
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[ 116.54296875, 5.194805145263672, 115.048828125, -10.458984375, 68.203125, -13.88671875 ]
[ 117.24609375, 3.924914836883545, 121.025390625, -7.998046875, 72.685546875, -13.623046875 ]
2.5
75
0
75
0
[ 117.685546875, 5.974026203155518, 113.73046875, -10.810546875, 66.62109375, -13.88671875 ]
[ 117.333984375, 4.351535797119141, 118.740234375, -8.525390625, 71.54296875, -13.623046875 ]
2.533333
76
0
76
0
[ 118.4765625, 6.233766078948975, 112.236328125, -11.162109375, 65.302734375, -13.798828125 ]
[ 117.685546875, 4.863481044769287, 116.630859375, -9.140625, 70.13671875, -13.623046875 ]
2.566667
77
0
77
0
[ 118.916015625, 7.272727012634277, 110.7421875, -11.337890625, 63.984375, -13.798828125 ]
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2.6
78
0
78
0
[ 119.1796875, 8.571429252624512, 109.072265625, -11.513671875, 63.017578125, -13.798828125 ]
[ 119.091796875, 5.887372016906738, 113.02734375, -10.634765625, 67.5, -13.623046875 ]
2.633333
79
0
79
0
[ 119.35546875, 10.909090995788574, 107.75390625, -11.513671875, 61.962890625, -13.798828125 ]
[ 119.443359375, 6.655290126800537, 111.357421875, -10.986328125, 66.357421875, -13.623046875 ]
2.666667
80
0
80
0
[ 119.619140625, 11.948052406311035, 106.5234375, -11.42578125, 60.99609375, -13.798828125 ]
[ 119.70703125, 7.764504909515381, 109.6875, -11.07421875, 65.126953125, -13.623046875 ]
2.7
81
0
81
0
[ 119.70703125, 12.727272033691406, 105.64453125, -11.337890625, 60.380859375, -13.798828125 ]
[ 119.970703125, 9.215017318725586, 108.10546875, -11.07421875, 63.984375, -13.623046875 ]
2.733333
82
0
82
0
[ 119.794921875, 15.064935684204102, 105.029296875, -11.337890625, 59.853515625, -13.798828125 ]
[ 120.234375, 10.32423210144043, 106.69921875, -10.8984375, 62.9296875, -13.623046875 ]
2.766667
83
0
83
0
[ 119.794921875, 18.96103858947754, 104.501953125, -11.42578125, 59.4140625, -13.88671875 ]
[ 120.234375, 11.518771171569824, 105.556640625, -10.72265625, 62.05078125, -13.623046875 ]
2.8
84
0
84
0
[ 119.794921875, 21.81818199157715, 104.0625, -11.513671875, 59.150390625, -13.974609375 ]
[ 120.234375, 13.48122787475586, 104.677734375, -10.72265625, 61.435546875, -13.623046875 ]
2.833333
85
0
85
0
[ 119.70703125, 22.077922821044922, 103.88671875, -11.689453125, 58.88671875, -13.974609375 ]
[ 120.234375, 15.955631256103516, 104.150390625, -10.72265625, 60.8203125, -13.623046875 ]
2.866667
86
0
86
0
[ 119.53125, 23.89610481262207, 103.798828125, -11.77734375, 58.88671875, -13.88671875 ]
[ 120.234375, 18.174060821533203, 103.623046875, -10.72265625, 60.380859375, -13.623046875 ]
2.9
87
0
87
0
[ 119.35546875, 27.792205810546875, 103.7109375, -12.041015625, 58.88671875, -13.88671875 ]
[ 120.234375, 19.965869903564453, 103.271484375, -10.8984375, 59.94140625, -13.623046875 ]
2.933333
88
0
88
0
[ 119.267578125, 31.688312530517578, 103.623046875, -12.392578125, 58.88671875, -13.88671875 ]
[ 120.234375, 21.843002319335938, 103.18359375, -11.162109375, 59.765625, -13.623046875 ]
2.966667
89
0
89
0
[ 119.00390625, 32.727272033691406, 103.271484375, -12.568359375, 58.88671875, -13.798828125 ]
[ 120.234375, 24.57337760925293, 103.095703125, -11.513671875, 59.58984375, -13.623046875 ]
3
90
0
90
0
[ 119.00390625, 32.727272033691406, 102.744140625, -12.919921875, 58.88671875, -13.798828125 ]
[ 120.234375, 27.389080047607422, 103.095703125, -11.77734375, 59.58984375, -13.623046875 ]
3.033333
91
0
91
0
[ 118.916015625, 32.98701477050781, 101.865234375, -13.18359375, 58.798828125, -13.798828125 ]
[ 120.234375, 29.266210556030273, 102.65625, -12.12890625, 59.58984375, -13.623046875 ]
3.066667
92
0
92
0
[ 118.916015625, 33.50649642944336, 100.986328125, -13.359375, 58.447265625, -13.798828125 ]
[ 120.234375, 30.460750579833984, 101.953125, -12.48046875, 59.58984375, -13.623046875 ]
3.1
93
0
93
0
[ 119.267578125, 34.02597427368164, 100.37109375, -13.447265625, 57.744140625, -13.798828125 ]
[ 120.234375, 31.484642028808594, 101.25, -12.65625, 59.501953125, -13.623046875 ]
3.133333
94
0
94
0
[ 119.267578125, 34.28571701049805, 99.66796875, -13.447265625, 57.3046875, -13.798828125 ]
[ 120.234375, 32.252559661865234, 100.546875, -12.919921875, 59.23828125, -13.623046875 ]
3.166667
95
0
95
0
[ 119.091796875, 34.80519485473633, 98.701171875, -13.271484375, 56.865234375, -13.798828125 ]
[ 120.234375, 32.93515396118164, 99.66796875, -13.095703125, 58.7109375, -13.623046875 ]
3.2
96
0
96
0
[ 118.916015625, 34.80519485473633, 97.822265625, -13.095703125, 56.42578125, -13.88671875 ]
[ 120.234375, 33.44709777832031, 98.96484375, -13.18359375, 58.271484375, -13.623046875 ]
3.233333
97
0
97
0
[ 118.740234375, 34.80519485473633, 97.03125, -12.919921875, 55.986328125, -14.0625 ]
[ 120.234375, 33.959041595458984, 98.173828125, -13.18359375, 57.744140625, -13.623046875 ]
3.266667
98
0
98
0
[ 118.65234375, 34.54545593261719, 96.416015625, -12.83203125, 55.546875, -14.150390625 ]
[ 120.234375, 34.21501922607422, 97.294921875, -13.18359375, 57.3046875, -13.623046875 ]
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": 596,
    "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": {
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            "shape": [
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            "names": [
                "main_elbow_flex",
                "main_gripper",
                "main_shoulder_lift",
                "main_shoulder_pan",
                "main_wrist_flex",
                "main_wrist_roll"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "main_elbow_flex",
                "main_gripper",
                "main_shoulder_lift",
                "main_shoulder_pan",
                "main_wrist_flex",
                "main_wrist_roll"
            ]
        },
        "observation.images.laptop": {
            "dtype": "video",
            "shape": [
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            "names": [
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        "observation.images.realsense": {
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            "info": {
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        },
        "timestamp": {
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            "names": null
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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