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masato-ka
/
so100_conditonal_dataset_sample

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
ACT
Condition
Block
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Dask
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xet
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sequence
observation.state
sequence
timestamp
float32
0
15
frame_index
int64
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449
episode_index
int64
0
40
index
int64
0
17.9k
task_index
int64
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[ 1.23046875, 188.61328125, 180.17578125, 37.705078125, 1.93359375, 0.6172839403152466, 1 ]
2.4
72
0
72
0
[ 2.021484375, 188.525390625, 178.59375, 39.638671875, 2.63671875, -0.28901731967926025 ]
[ 1.23046875, 188.61328125, 180.17578125, 37.96875, 1.93359375, 0.6172839403152466, 1 ]
2.433333
73
0
73
0
[ 2.197265625, 187.294921875, 177.626953125, 39.990234375, 2.63671875, -0.28901731967926025 ]
[ 1.23046875, 188.61328125, 180.17578125, 38.671875, 2.109375, 0.6172839403152466, 1 ]
2.466667
74
0
74
0
[ 2.4609375, 185.2734375, 176.1328125, 40.341796875, 2.548828125, -0.28901731967926025 ]
[ 1.58203125, 188.61328125, 180.17578125, 39.287109375, 2.373046875, 0.6172839403152466, 1 ]
2.5
75
0
75
0
[ 2.8125, 182.548828125, 174.111328125, 40.4296875, 2.4609375, -0.28901731967926025 ]
[ 1.93359375, 188.0859375, 180, 39.7265625, 2.373046875, 0.6172839403152466, 1 ]
2.533333
76
0
76
0
[ 3.1640625, 179.560546875, 171.5625, 40.95703125, 2.197265625, -0.28901731967926025 ]
[ 2.197265625, 186.50390625, 179.12109375, 40.166015625, 2.373046875, 0.6172839403152466, 1 ]
2.566667
77
0
77
0
[ 3.515625, 176.484375, 168.662109375, 42.01171875, 1.93359375, -0.28901731967926025 ]
[ 2.548828125, 184.21875, 177.802734375, 40.4296875, 2.373046875, 0.6172839403152466, 1 ]
2.6
78
0
78
0
[ 3.8671875, 173.759765625, 165.76171875, 43.2421875, 1.7578125, -0.28901731967926025 ]
[ 2.8125, 181.40625, 176.1328125, 41.044921875, 2.373046875, 0.6172839403152466, 1 ]
2.633333
79
0
79
0
[ 4.21875, 171.298828125, 162.94921875, 44.560546875, 1.494140625, -0.28901731967926025 ]
[ 3.251953125, 178.681640625, 173.759765625, 41.923828125, 2.197265625, 0.6172839403152466, 1 ]
2.666667
80
0
80
0
[ 4.658203125, 169.1015625, 160.3125, 45.439453125, 1.318359375, -0.28901731967926025 ]
[ 3.515625, 176.30859375, 171.474609375, 42.890625, 1.93359375, 0.6172839403152466, 1 ]
2.7
81
0
81
0
[ 4.921875, 167.080078125, 157.8515625, 46.142578125, 1.318359375, -0.28901731967926025 ]
[ 3.955078125, 173.84765625, 168.92578125, 43.9453125, 1.7578125, 0.6172839403152466, 1 ]
2.733333
82
0
82
0
[ 5.185546875, 165.05859375, 155.7421875, 46.7578125, 1.318359375, -0.28901731967926025 ]
[ 4.306640625, 171.474609375, 166.2890625, 44.912109375, 1.669921875, 0.6172839403152466, 1 ]
2.766667
83
0
83
0
[ 5.44921875, 163.037109375, 153.6328125, 47.109375, 1.93359375, -0.28901731967926025 ]
[ 4.658203125, 169.365234375, 163.828125, 45.703125, 1.58203125, 0.6172839403152466, 1 ]
2.8
84
0
84
0
[ 5.888671875, 160.927734375, 151.875, 47.109375, 2.98828125, -0.28901731967926025 ]
[ 4.833984375, 167.255859375, 161.54296875, 46.23046875, 1.494140625, 0.6172839403152466, 1 ]
2.833333
85
0
85
0
[ 6.240234375, 158.642578125, 150.029296875, 46.93359375, 4.306640625, -0.28901731967926025 ]
[ 5.185546875, 165.05859375, 159.2578125, 46.669921875, 1.7578125, 0.6172839403152466, 1 ]
2.866667
86
0
86
0
[ 6.6796875, 156.26953125, 148.18359375, 46.845703125, 5.712890625, -0.28901731967926025 ]
[ 5.537109375, 163.037109375, 157.236328125, 46.7578125, 2.548828125, 0.6172839403152466, 1 ]
2.9
87
0
87
0
[ 7.20703125, 153.80859375, 146.25, 46.58203125, 7.646484375, -0.28901731967926025 ]
[ 5.888671875, 161.19140625, 155.478515625, 46.7578125, 3.33984375, 0.6172839403152466, 1 ]
2.933333
88
0
88
0
[ 7.998046875, 151.259765625, 144.228515625, 46.0546875, 9.66796875, -0.28901731967926025 ]
[ 6.15234375, 159.521484375, 154.072265625, 46.845703125, 4.306640625, 0.6172839403152466, 1 ]
2.966667
89
0
89
0
[ 8.7890625, 148.53515625, 141.85546875, 45.615234375, 10.72265625, -0.28901731967926025 ]
[ 6.767578125, 156.62109375, 151.69921875, 46.7578125, 6.240234375, 0.6172839403152466, 1 ]
3
90
0
90
0
[ 9.84375, 145.634765625, 139.482421875, 45.52734375, 11.77734375, -0.28901731967926025 ]
[ 7.470703125, 153.80859375, 149.58984375, 46.58203125, 7.91015625, 0.6172839403152466, 1 ]
3.033333
91
0
91
0
[ 11.07421875, 142.734375, 136.93359375, 45.791015625, 13.447265625, -0.28901731967926025 ]
[ 8.173828125, 150.908203125, 147.12890625, 46.40625, 9.31640625, 0.6172839403152466, 1 ]
3.066667
92
0
92
0
[ 12.216796875, 140.009765625, 134.47265625, 46.318359375, 14.765625, -0.28901731967926025 ]
[ 9.140625, 148.18359375, 144.931640625, 46.318359375, 10.546875, 0.6172839403152466, 1 ]
3.1
93
0
93
0
[ 13.18359375, 137.197265625, 131.923828125, 47.373046875, 16.259765625, -0.28901731967926025 ]
[ 10.107421875, 145.458984375, 142.55859375, 46.318359375, 11.953125, 0.6172839403152466, 1 ]
3.133333
94
0
94
0
[ 14.0625, 134.736328125, 129.287109375, 48.779296875, 18.896484375, -0.28901731967926025 ]
[ 11.07421875, 142.470703125, 140.09765625, 46.58203125, 13.359375, 0.6172839403152466, 1 ]
3.166667
95
0
95
0
[ 14.765625, 132.36328125, 127.08984375, 49.658203125, 21.62109375, -0.28901731967926025 ]
[ 12.12890625, 139.74609375, 137.548828125, 47.4609375, 15.1171875, 0.6172839403152466, 1 ]
3.2
96
0
96
0
[ 15.380859375, 129.990234375, 124.62890625, 50.185546875, 23.5546875, -0.28901731967926025 ]
[ 13.0078125, 137.109375, 135.17578125, 48.251953125, 17.05078125, 0.6172839403152466, 1 ]
3.233333
97
0
97
0
[ 16.083984375, 127.6171875, 122.34375, 50.625, 26.19140625, -0.28901731967926025 ]
[ 13.798828125, 134.47265625, 132.71484375, 49.04296875, 19.3359375, 0.6172839403152466, 1 ]
3.266667
98
0
98
0
[ 16.875, 125.33203125, 120.322265625, 50.888671875, 28.4765625, -0.28901731967926025 ]
[ 14.58984375, 131.923828125, 130.25390625, 49.74609375, 21.62109375, 0.6172839403152466, 1 ]
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": 900,
    "total_tasks": 1,
    "total_videos": 2,
    "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": [
                6
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper",
                "condition"
            ]
        },
        "observation.images.laptop": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "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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