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so100_train_move_six_blocks_tray_to_matching_dishes

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Robotics
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so100
train
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sequence
observation.state
sequence
timestamp
float32
0
26.3
frame_index
int64
0
789
episode_index
int64
0
19
index
int64
0
11.8k
task_index
int64
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0
70
0
[ 16.259765625, 88.857421875, 109.599609375, 52.734375, -101.07421875, -0.3518029749393463 ]
[ 17.666015625, 88.76953125, 108.720703125, 53.61328125, -101.77734375, -0.08216927200555801 ]
2.366667
71
0
71
0
[ 15.46875, 88.76953125, 110.0390625, 52.734375, -100.37109375, -0.3518029749393463 ]
[ 17.05078125, 88.59375, 109.072265625, 53.4375, -101.77734375, -0.08216927200555801 ]
2.4
72
0
72
0
[ 14.4140625, 88.76953125, 110.478515625, 52.55859375, -99.140625, -0.3518029749393463 ]
[ 16.787109375, 88.59375, 109.599609375, 53.26171875, -101.6015625, -0.08216927200555801 ]
2.433333
73
0
73
0
[ 12.65625, 88.76953125, 111.181640625, 52.55859375, -97.822265625, -0.3518029749393463 ]
[ 16.083984375, 88.505859375, 110.478515625, 52.998046875, -100.72265625, -0.08216927200555801 ]
2.466667
74
0
74
0
[ 10.546875, 88.76953125, 111.97265625, 52.294921875, -95.9765625, -0.3518029749393463 ]
[ 14.0625, 88.505859375, 111.181640625, 52.822265625, -99.404296875, -0.08216927200555801 ]
2.5
75
0
75
0
[ 9.84375, 88.681640625, 112.1484375, 52.294921875, -95.185546875, -0.3518029749393463 ]
[ 13.359375, 88.505859375, 111.181640625, 52.91015625, -99.052734375, -0.08216927200555801 ]
2.533333
76
0
76
0
[ 8.61328125, 88.59375, 112.236328125, 52.294921875, -93.603515625, -0.3518029749393463 ]
[ 12.568359375, 88.505859375, 111.62109375, 52.3828125, -98.349609375, -0.08216927200555801 ]
2.566667
77
0
77
0
[ 7.470703125, 88.505859375, 112.32421875, 52.20703125, -92.109375, -0.3518029749393463 ]
[ 11.865234375, 88.330078125, 112.060546875, 52.822265625, -97.119140625, -0.08216927200555801 ]
2.6
78
0
78
0
[ 6.15234375, 88.505859375, 112.412109375, 52.119140625, -90.703125, -0.3518029749393463 ]
[ 10.546875, 88.2421875, 112.1484375, 52.734375, -96.15234375, -0.08216927200555801 ]
2.633333
79
0
79
0
[ 4.921875, 88.505859375, 112.587890625, 52.119140625, -89.47265625, -0.3518029749393463 ]
[ 9.052734375, 88.154296875, 112.32421875, 51.943359375, -93.955078125, -0.08216927200555801 ]
2.666667
80
0
80
0
[ 3.69140625, 88.505859375, 112.587890625, 52.20703125, -88.2421875, -0.3518029749393463 ]
[ 7.3828125, 88.154296875, 112.5, 52.646484375, -92.8125, -0.08216927200555801 ]
2.7
81
0
81
0
[ 2.4609375, 88.505859375, 112.587890625, 52.470703125, -87.099609375, -0.3518029749393463 ]
[ 6.15234375, 88.154296875, 112.67578125, 52.55859375, -92.021484375, -0.08216927200555801 ]
2.733333
82
0
82
0
[ 1.0546875, 88.59375, 112.412109375, 52.998046875, -85.693359375, -0.3518029749393463 ]
[ 5.09765625, 88.154296875, 112.763671875, 52.55859375, -89.736328125, -0.08216927200555801 ]
2.766667
83
0
83
0
[ -0.52734375, 88.9453125, 112.1484375, 53.876953125, -84.111328125, -0.3518029749393463 ]
[ 3.8671875, 88.154296875, 112.763671875, 52.646484375, -88.2421875, -0.08216927200555801 ]
2.8
84
0
84
0
[ -1.58203125, 89.12109375, 111.796875, 54.755859375, -83.232421875, -0.3518029749393463 ]
[ 2.373046875, 88.154296875, 112.763671875, 52.91015625, -87.1875, -0.08216927200555801 ]
2.833333
85
0
85
0
[ -2.548828125, 89.47265625, 111.181640625, 56.42578125, -82.79296875, -0.3518029749393463 ]
[ 0.87890625, 88.154296875, 112.763671875, 53.349609375, -86.396484375, -0.08216927200555801 ]
2.866667
86
0
86
0
[ -3.251953125, 90.087890625, 109.3359375, 59.94140625, -82.265625, -0.3518029749393463 ]
[ -1.23046875, 88.154296875, 112.763671875, 54.84375, -84.0234375, -0.08216927200555801 ]
2.9
87
0
87
0
[ -3.251953125, 90.703125, 107.578125, 63.193359375, -82.79296875, -0.3518029749393463 ]
[ -1.7578125, 88.154296875, 112.763671875, 55.458984375, -83.583984375, -0.08216927200555801 ]
2.933333
88
0
88
0
[ -3.076171875, 91.494140625, 105.732421875, 66.708984375, -83.14453125, -0.3518029749393463 ]
[ -2.021484375, 88.2421875, 111.97265625, 56.865234375, -83.408203125, -0.08216927200555801 ]
2.966667
89
0
89
0
[ -2.724609375, 92.373046875, 103.53515625, 70.48828125, -83.408203125, -0.3518029749393463 ]
[ -2.109375, 88.330078125, 110.56640625, 59.150390625, -83.14453125, -0.08216927200555801 ]
3
90
0
90
0
[ -2.28515625, 93.427734375, 100.986328125, 75.234375, -84.111328125, -0.3518029749393463 ]
[ -2.373046875, 89.208984375, 108.10546875, 63.80859375, -83.14453125, -0.08216927200555801 ]
3.033333
91
0
91
0
[ -1.669921875, 94.482421875, 97.998046875, 80.244140625, -84.7265625, -0.3518029749393463 ]
[ -2.63671875, 90.087890625, 106.5234375, 66.62109375, -83.14453125, -0.08216927200555801 ]
3.066667
92
0
92
0
[ -1.142578125, 95.009765625, 96.15234375, 83.232421875, -85.25390625, -0.3518029749393463 ]
[ -2.724609375, 90.791015625, 104.853515625, 70.13671875, -83.49609375, -0.08216927200555801 ]
3.1
93
0
93
0
[ -0.615234375, 95.537109375, 94.74609375, 85.60546875, -85.693359375, -0.3518029749393463 ]
[ -2.548828125, 91.494140625, 102.65625, 73.740234375, -83.935546875, -0.08216927200555801 ]
3.133333
94
0
94
0
[ 0.17578125, 95.9765625, 93.427734375, 88.41796875, -87.1875, -0.3518029749393463 ]
[ -1.494140625, 92.63671875, 98.96484375, 79.1015625, -84.7265625, -0.08216927200555801 ]
3.166667
95
0
95
0
[ 0.966796875, 96.15234375, 92.4609375, 90.263671875, -88.41796875, -0.3518029749393463 ]
[ -0.703125, 93.251953125, 97.822265625, 82.08984375, -85.166015625, -0.08216927200555801 ]
3.2
96
0
96
0
[ 1.93359375, 96.416015625, 91.494140625, 92.197265625, -90.17578125, -0.3518029749393463 ]
[ -0.087890625, 93.603515625, 96.328125, 85.25390625, -86.220703125, -0.08216927200555801 ]
3.233333
97
0
97
0
[ 3.33984375, 96.591796875, 90.439453125, 94.21875, -92.373046875, -0.3518029749393463 ]
[ 0.263671875, 93.779296875, 95.44921875, 86.396484375, -87.01171875, -0.08216927200555801 ]
3.266667
98
0
98
0
[ 5.44921875, 96.591796875, 89.384765625, 95.44921875, -95.09765625, -0.3518029749393463 ]
[ 1.23046875, 94.306640625, 93.603515625, 90.87890625, -89.296875, -0.08216927200555801 ]
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": 20,
    "total_frames": 11829,
    "total_tasks": 1,
    "total_videos": 40,
    "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": [
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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.center_cam": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.right_cam": {
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            "shape": [
                480,
                640,
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            ],
            "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": {
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
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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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