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Datasets:
samsam0510
/
tape_insert_2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
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Dask
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action
sequence
observation.state
sequence
timestamp
float32
0
24.7
frame_index
int64
0
741
episode_index
int64
0
101
index
int64
0
32.1k
task_index
int64
0
0
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72
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[ -4.39453125, 114.169921875, 97.119140625, 60.1171875, -14.501953125, -0.08130080997943878 ]
[ 1.0546875, 99.404296875, 106.962890625, 66.09375, -13.359375, 6.342494487762451 ]
2.433333
73
0
73
0
[ -4.833984375, 113.994140625, 95.80078125, 56.689453125, -14.501953125, -0.08130080997943878 ]
[ -0.439453125, 102.12890625, 105.556640625, 65.654296875, -13.359375, 6.342494487762451 ]
2.466667
74
0
74
0
[ -5.185546875, 113.203125, 94.74609375, 53.0859375, -14.501953125, -0.08130080997943878 ]
[ -1.669921875, 104.501953125, 104.23828125, 64.248046875, -13.359375, 6.342494487762451 ]
2.5
75
0
75
0
[ -5.625, 111.62109375, 93.1640625, 50.361328125, -14.501953125, -0.08130080997943878 ]
[ -2.63671875, 105.908203125, 102.83203125, 62.2265625, -13.359375, 6.342494487762451 ]
2.533333
76
0
76
0
[ -5.888671875, 108.896484375, 90.439453125, 49.482421875, -14.501953125, -0.08130080997943878 ]
[ -3.427734375, 106.787109375, 101.337890625, 59.765625, -13.359375, 6.342494487762451 ]
2.566667
77
0
77
0
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[ -3.955078125, 107.05078125, 100.107421875, 57.12890625, -13.359375, 6.342494487762451 ]
2.6
78
0
78
0
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[ -4.39453125, 106.611328125, 98.525390625, 54.755859375, -13.359375, 6.342494487762451 ]
2.633333
79
0
79
0
[ -6.50390625, 100.01953125, 82.529296875, 47.900390625, -14.501953125, -0.08130080997943878 ]
[ -4.921875, 105.380859375, 96.50390625, 53.173828125, -13.359375, 6.342494487762451 ]
2.666667
80
0
80
0
[ -6.591796875, 97.20703125, 80.68359375, 46.58203125, -14.501953125, -0.08130080997943878 ]
[ -5.185546875, 103.53515625, 94.306640625, 51.943359375, -13.359375, 6.342494487762451 ]
2.7
81
0
81
0
[ -6.6796875, 94.306640625, 78.3984375, 45.791015625, -14.501953125, -0.08130080997943878 ]
[ -5.625, 101.42578125, 91.93359375, 50.888671875, -13.359375, 6.342494487762451 ]
2.733333
82
0
82
0
[ -6.943359375, 91.23046875, 75.498046875, 45.52734375, -14.501953125, -0.08130080997943878 ]
[ -5.712890625, 99.052734375, 89.736328125, 49.833984375, -13.359375, 6.342494487762451 ]
2.766667
83
0
83
0
[ -7.119140625, 87.890625, 72.24609375, 45.439453125, -14.4140625, -0.08130080997943878 ]
[ -5.80078125, 96.416015625, 87.626953125, 48.8671875, -13.359375, 6.342494487762451 ]
2.8
84
0
84
0
[ -7.470703125, 84.814453125, 68.90625, 45.439453125, -14.23828125, -0.08130080997943878 ]
[ -5.80078125, 93.515625, 85.341796875, 48.251953125, -13.359375, 6.342494487762451 ]
2.833333
85
0
85
0
[ -7.91015625, 82.001953125, 65.56640625, 45.439453125, -14.150390625, -0.08130080997943878 ]
[ -5.712890625, 90.439453125, 82.96875, 47.900390625, -13.359375, 6.342494487762451 ]
2.866667
86
0
86
0
[ -8.4375, 79.1015625, 62.314453125, 45.52734375, -14.23828125, -0.08130080997943878 ]
[ -5.888671875, 87.099609375, 80.5078125, 47.8125, -13.359375, 6.342494487762451 ]
2.9
87
0
87
0
[ -9.052734375, 76.11328125, 58.7109375, 45.791015625, -14.326171875, -0.08130080997943878 ]
[ -6.15234375, 83.759765625, 77.87109375, 47.8125, -13.359375, 6.272022724151611 ]
2.933333
88
0
88
0
[ -9.66796875, 73.30078125, 55.01953125, 45.966796875, -14.4140625, -0.08130080997943878 ]
[ -6.767578125, 80.5078125, 75.234375, 47.8125, -13.359375, 6.272022724151611 ]
2.966667
89
0
89
0
[ -10.283203125, 70.224609375, 50.80078125, 46.669921875, -14.4140625, -0.08130080997943878 ]
[ -7.470703125, 77.34375, 72.509765625, 47.8125, -13.359375, 6.272022724151611 ]
3
90
0
90
0
[ -10.8984375, 66.62109375, 45.17578125, 48.33984375, -14.4140625, -0.08130080997943878 ]
[ -8.349609375, 74.1796875, 69.521484375, 47.8125, -13.447265625, 6.272022724151611 ]
3.033333
91
0
91
0
[ -11.513671875, 62.314453125, 37.96875, 50.888671875, -14.4140625, -0.08130080997943878 ]
[ -9.052734375, 71.103515625, 66.4453125, 47.8125, -13.447265625, 6.272022724151611 ]
3.066667
92
0
92
0
[ -12.041015625, 57.48046875, 29.53125, 54.052734375, -14.4140625, -0.08130080997943878 ]
[ -9.66796875, 67.8515625, 62.841796875, 48.076171875, -13.447265625, 6.272022724151611 ]
3.1
93
0
93
0
[ -12.392578125, 51.591796875, 19.072265625, 57.392578125, -14.4140625, -0.08130080997943878 ]
[ -10.283203125, 64.423828125, 58.7109375, 49.04296875, -13.53515625, 6.272022724151611 ]
3.133333
94
0
94
0
[ -12.65625, 44.82421875, 7.470703125, 60.556640625, -14.4140625, -0.08130080997943878 ]
[ -10.72265625, 60.64453125, 54.31640625, 50.625, -13.7109375, 6.272022724151611 ]
3.166667
95
0
95
0
[ -12.919921875, 38.759765625, -2.98828125, 62.666015625, -14.501953125, -0.08130080997943878 ]
[ -11.337890625, 56.689453125, 49.658203125, 52.91015625, -13.7109375, 6.272022724151611 ]
3.2
96
0
96
0
[ -13.18359375, 35.595703125, -7.822265625, 63.6328125, -14.58984375, -0.08130080997943878 ]
[ -11.689453125, 52.20703125, 44.736328125, 55.37109375, -13.7109375, 6.272022724151611 ]
3.233333
97
0
97
0
[ -13.447265625, 35.15625, -7.294921875, 63.896484375, -14.677734375, -0.08130080997943878 ]
[ -11.953125, 47.109375, 39.814453125, 58.0078125, -13.7109375, 6.272022724151611 ]
3.266667
98
0
98
0
[ -13.623046875, 34.98046875, -6.240234375, 63.896484375, -14.677734375, -0.08130080997943878 ]
[ -12.3046875, 41.748046875, 34.716796875, 60.380859375, -13.7109375, 6.272022724151611 ]
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": "v2.0",
    "robot_type": "so100",
    "total_episodes": 102,
    "total_frames": 32087,
    "total_tasks": 1,
    "total_videos": 204,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:102"
    },
    "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": [
                "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": [
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            "names": [
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        "observation.images.phone": {
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            "names": [
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            "info": {
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                "video.codec": "h264",
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                "video.is_depth_map": false,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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                1
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
apache-2.0
Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
32,087