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Datasets:
hugechen
/
paper_cup

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
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Dask
Polars
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action
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observation.state
list
timestamp
float32
0
11.9
frame_index
int64
0
357
episode_index
int64
0
49
index
int64
0
17.9k
task_index
int64
0
0
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2.366667
71
0
71
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2.4
72
0
72
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2.433333
73
0
73
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2.466667
74
0
74
0
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2.5
75
0
75
0
[ 31.67578125, 119.5400390625, 90.03515625, 76.3857421875, 14.3525390625, -23.44921875, 51.56886291503906, -25.189453125, 134.0771484375, 112.6669921875, 55.494140625, 14.7568359375, -20.0302734375, 35.46709060668945 ]
[ 29.70703125, 118.916015625, 95.009765625, 74.794921875, 14.150390625, -23.73046875, 49.66292190551758, -23.203125, 134.736328125, 121.81640625, 49.658203125, 14.150390625, -18.193359375, 31.117021560668945 ]
2.533333
76
0
76
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[ 32.2119140625, 119.1181640625, 89.982421875, 76.623046875, 14.361328125, -23.3173828125, 51.700599670410156, -25.576171875, 133.4970703125, 111.1201171875, 57.603515625, 14.58984375, -20.35546875, 36.709129333496094 ]
[ 29.970703125, 118.740234375, 95.009765625, 75.234375, 14.150390625, -23.466796875, 49.88764190673828, -23.5546875, 133.9453125, 120.5859375, 51.328125, 14.0625, -18.369140625, 32.446807861328125 ]
2.566667
77
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77
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[ 30.41015625, 118.388671875, 95.009765625, 75.498046875, 14.150390625, -23.37890625, 50.11235809326172, -24.08203125, 133.59375, 119.267578125, 53.349609375, 14.0625, -19.072265625, 33.51063919067383 ]
2.6
78
0
78
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[ 31.025390625, 118.212890625, 95.009765625, 75.673828125, 14.150390625, -23.291015625, 50.11235809326172, -24.345703125, 132.978515625, 117.94921875, 54.755859375, 14.0625, -19.3359375, 34.574466705322266 ]
2.633333
79
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79
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[ 31.376953125, 117.7734375, 95.009765625, 75.76171875, 14.150390625, -23.291015625, 50.11235809326172, -24.609375, 132.626953125, 116.630859375, 56.337890625, 14.0625, -19.51171875, 35.90425491333008 ]
2.666667
80
0
80
0
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[ 32.080078125, 117.59765625, 95.009765625, 75.76171875, 14.150390625, -23.291015625, 50.11235809326172, -25.13671875, 131.748046875, 114.9609375, 58.271484375, 14.0625, -20.0390625, 37.23404312133789 ]
2.7
81
0
81
0
[ 34.3388671875, 117.45703125, 89.630859375, 76.7197265625, 14.431640625, -22.6318359375, 52.93413162231445, -27.84375, 131.3349609375, 104.3701171875, 67.376953125, 14.080078125, -21.8232421875, 41.252655029296875 ]
[ 32.51953125, 117.333984375, 94.833984375, 75.76171875, 14.150390625, -23.291015625, 50.78651809692383, -25.400390625, 131.044921875, 112.8515625, 60.732421875, 14.0625, -20.302734375, 38.5638313293457 ]
2.733333
82
0
82
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[ 33.22265625, 116.54296875, 94.39453125, 75.76171875, 14.150390625, -23.203125, 51.011234283447266, -26.015625, 130.60546875, 111.09375, 63.193359375, 13.974609375, -20.390625, 39.62765884399414 ]
2.766667
83
0
83
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2.8
84
0
84
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2.833333
85
0
85
0
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2.866667
86
0
86
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2.9
87
0
87
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2.933333
88
0
88
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2.966667
89
0
89
0
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3
90
0
90
0
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3.033333
91
0
91
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3.066667
92
0
92
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3.1
93
0
93
0
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[ 35.419921875, 113.37890625, 93.603515625, 75.76171875, 14.501953125, -20.302734375, 52.808990478515625, -33.837890625, 129.638671875, 103.974609375, 78.662109375, 14.23828125, -22.587890625, 44.946807861328125 ]
3.133333
94
0
94
0
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[ 35.5078125, 113.291015625, 93.603515625, 75.76171875, 14.501953125, -20.302734375, 52.808990478515625, -34.8046875, 129.638671875, 103.88671875, 78.662109375, 14.326171875, -22.32421875, 45.478721618652344 ]
3.166667
95
0
95
0
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3.2
96
0
96
0
[ 35.6923828125, 111.955078125, 89.1123046875, 76.2978515625, 15.29296875, -18.931640625, 54.3353271484375, -37.8193359375, 130.4560546875, 99.73828125, 79.875, 13.4912109375, -22.376953125, 46.560508728027344 ]
[ 35.68359375, 112.32421875, 93.427734375, 75.76171875, 14.58984375, -19.51171875, 52.808990478515625, -36.5625, 129.638671875, 103.798828125, 78.837890625, 14.326171875, -22.236328125, 45.478721618652344 ]
3.233333
97
0
97
0
[ 35.54296875, 111.3310546875, 89.068359375, 76.25390625, 15.29296875, -18.580078125, 54.694610595703125, -38.21484375, 130.4296875, 99.87890625, 79.8837890625, 12.990234375, -22.1748046875, 46.42250442504883 ]
[ 35.68359375, 111.708984375, 93.427734375, 75.76171875, 14.58984375, -19.423828125, 52.808990478515625, -37.001953125, 129.638671875, 103.798828125, 78.837890625, 14.326171875, -22.236328125, 45.478721618652344 ]
3.266667
98
0
98
0
[ 35.349609375, 110.6279296875, 88.9716796875, 76.2099609375, 15.2841796875, -18.2109375, 54.99401092529297, -38.5048828125, 130.359375, 100.0283203125, 79.892578125, 12.375, -21.919921875, 46.18895721435547 ]
[ 35.68359375, 111.26953125, 93.427734375, 75.76171875, 14.58984375, -19.3359375, 53.03370666503906, -37.44140625, 129.638671875, 103.798828125, 78.837890625, 13.974609375, -22.236328125, 45.478721618652344 ]
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": 17900,
    "total_tasks": 1,
    "total_videos": 150,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
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    "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": {
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            "shape": [
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            "names": [
                "left_shoulder_pan",
                "left_shoulder_lift",
                "left_elbow_flex",
                "left_wrist_flex",
                "left_wrist_roll",
                "left_wrist_angle",
                "left_gripper",
                "right_shoulder_pan",
                "right_shoulder_lift",
                "right_elbow_flex",
                "right_wrist_flex",
                "right_wrist_roll",
                "right_wrist_angle",
                "right_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
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            "names": [
                "left_shoulder_pan",
                "left_shoulder_lift",
                "left_elbow_flex",
                "left_wrist_flex",
                "left_wrist_roll",
                "left_wrist_angle",
                "left_gripper",
                "right_shoulder_pan",
                "right_shoulder_lift",
                "right_elbow_flex",
                "right_wrist_flex",
                "right_wrist_roll",
                "right_wrist_angle",
                "right_gripper"
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        },
        "observation.images.front": {
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            "shape": [
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            "names": [
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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",
                "video.is_depth_map": false,
                "has_audio": false
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        },
        "observation.images.grippeer_left": {
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            "info": {
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        "observation.images.gripper_right": {
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        }
    }
}

Citation

BibTeX:

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Downloads last month
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License:
apache-2.0
Size of downloaded dataset files:
2.1 MB
Size of the auto-converted Parquet files:
2.1 MB
Number of rows:
17,900