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Datasets:
djkesu
/
so100_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
1
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action
sequence
observation.state
sequence
timestamp
float32
0
29.9
frame_index
int64
0
897
episode_index
int64
0
32
index
int64
0
16.6k
task_index
int64
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0
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2.3
69
0
69
0
[ 13.88671875, 111.357421875, 139.5703125, 35.244140625, -9.052734375, -2.3457863330841064 ]
[ 13.623046875, 110.56640625, 140.009765625, 35.33203125, -85.25390625, -1.7013232707977295 ]
2.333333
70
0
70
0
[ 13.88671875, 111.357421875, 139.5703125, 35.244140625, -9.052734375, -2.3457863330841064 ]
[ 13.623046875, 110.56640625, 140.009765625, 35.33203125, -85.25390625, -1.7013232707977295 ]
2.366667
71
0
71
0
[ 13.88671875, 111.357421875, 139.5703125, 35.244140625, -9.052734375, -2.2589051723480225 ]
[ 13.623046875, 110.56640625, 140.009765625, 35.33203125, -85.25390625, -1.7013232707977295 ]
2.4
72
0
72
0
[ 13.88671875, 111.357421875, 139.5703125, 35.244140625, -9.052734375, -2.2589051723480225 ]
[ 13.623046875, 110.56640625, 140.009765625, 35.33203125, -85.25390625, -1.7013232707977295 ]
2.433333
73
0
73
0
[ 13.88671875, 111.357421875, 139.5703125, 35.244140625, -9.052734375, -2.2589051723480225 ]
[ 13.623046875, 110.56640625, 140.009765625, 35.33203125, -85.25390625, -1.7013232707977295 ]
2.466667
74
0
74
0
[ 13.88671875, 111.357421875, 139.5703125, 35.244140625, -9.052734375, -2.2589051723480225 ]
[ 13.623046875, 110.56640625, 140.009765625, 35.33203125, -85.25390625, -1.7013232707977295 ]
2.5
75
0
75
0
[ 13.88671875, 111.357421875, 139.5703125, 35.244140625, -9.052734375, -2.2589051723480225 ]
[ 13.623046875, 110.56640625, 140.009765625, 35.33203125, -85.25390625, -1.7013232707977295 ]
2.533333
76
0
76
0
[ 13.88671875, 111.357421875, 139.658203125, 35.244140625, -9.052734375, -2.2589051723480225 ]
[ 13.623046875, 110.56640625, 140.009765625, 35.33203125, -85.25390625, -1.7013232707977295 ]
2.566667
77
0
77
0
[ 13.974609375, 111.357421875, 139.658203125, 35.244140625, -9.052734375, -2.1720242500305176 ]
[ 13.623046875, 110.56640625, 140.009765625, 35.33203125, -85.25390625, -1.7013232707977295 ]
2.6
78
0
78
0
[ 13.974609375, 111.357421875, 139.658203125, 35.33203125, -9.052734375, -2.1720242500305176 ]
[ 13.623046875, 110.56640625, 140.009765625, 35.33203125, -85.25390625, -1.7013232707977295 ]
2.633333
79
0
79
0
[ 13.974609375, 111.357421875, 139.658203125, 35.33203125, -9.052734375, -2.1720242500305176 ]
[ 13.623046875, 110.56640625, 140.009765625, 35.33203125, -85.25390625, -1.7013232707977295 ]
2.666667
80
0
80
0
[ 13.974609375, 111.357421875, 139.658203125, 35.33203125, -9.052734375, -2.1720242500305176 ]
[ 13.623046875, 110.56640625, 140.009765625, 35.33203125, -85.25390625, -1.7013232707977295 ]
2.7
81
0
81
0
[ 13.974609375, 111.357421875, 139.658203125, 35.33203125, -9.052734375, -2.1720242500305176 ]
[ 13.623046875, 110.56640625, 140.009765625, 35.33203125, -85.25390625, -1.7013232707977295 ]
2.733333
82
0
82
0
[ 13.974609375, 111.357421875, 139.658203125, 35.33203125, -9.052734375, -2.0851433277130127 ]
[ 13.623046875, 110.56640625, 140.009765625, 35.33203125, -85.25390625, -1.7013232707977295 ]
2.766667
83
0
83
0
[ 13.974609375, 111.357421875, 139.658203125, 35.33203125, -9.052734375, -1.9982622861862183 ]
[ 13.623046875, 110.56640625, 140.009765625, 35.33203125, -85.25390625, -1.7013232707977295 ]
2.8
84
0
84
0
[ 14.0625, 111.357421875, 139.658203125, 35.33203125, -9.052734375, -1.5638575553894043 ]
[ 13.623046875, 110.56640625, 140.009765625, 35.33203125, -85.25390625, -1.7013232707977295 ]
2.833333
85
0
85
0
[ 14.0625, 111.357421875, 139.658203125, 35.33203125, -9.052734375, -0.6081668138504028 ]
[ 13.623046875, 110.56640625, 140.009765625, 35.33203125, -85.25390625, -1.7013232707977295 ]
2.866667
86
0
86
0
[ 14.0625, 111.357421875, 139.658203125, 35.33203125, -9.052734375, 0.7819287776947021 ]
[ 13.623046875, 110.56640625, 140.009765625, 35.33203125, -85.25390625, -1.7013232707977295 ]
2.9
87
0
87
0
[ 14.0625, 111.357421875, 139.658203125, 35.33203125, -9.052734375, 2.606429100036621 ]
[ 13.7109375, 110.56640625, 140.009765625, 35.33203125, -85.25390625, -1.5122873783111572 ]
2.933333
88
0
88
0
[ 14.0625, 111.357421875, 139.658203125, 35.419921875, -9.052734375, 4.778453350067139 ]
[ 13.798828125, 110.56640625, 140.009765625, 35.33203125, -85.25390625, -0.9451796412467957 ]
2.966667
89
0
89
0
[ 14.0625, 111.357421875, 139.658203125, 35.419921875, -9.052734375, 7.124239921569824 ]
[ 13.798828125, 110.56640625, 140.009765625, 35.33203125, -85.25390625, 0.5671077370643616 ]
3
90
0
90
0
[ 14.0625, 111.357421875, 139.74609375, 35.5078125, -9.052734375, 9.64378833770752 ]
[ 13.798828125, 110.56640625, 140.009765625, 35.33203125, -85.25390625, 2.4574668407440186 ]
3.033333
91
0
91
0
[ 14.0625, 111.357421875, 139.74609375, 35.771484375, -9.052734375, 11.989574432373047 ]
[ 13.798828125, 110.56640625, 140.009765625, 35.33203125, -85.25390625, 4.536861896514893 ]
3.066667
92
0
92
0
[ 14.0625, 111.357421875, 139.74609375, 36.2109375, -9.052734375, 14.33536148071289 ]
[ 13.798828125, 110.56640625, 140.009765625, 35.419921875, -85.25390625, 6.805293083190918 ]
3.1
93
0
93
0
[ 14.0625, 111.357421875, 139.74609375, 37.001953125, -9.052734375, 16.59426498413086 ]
[ 13.798828125, 110.56640625, 140.009765625, 35.68359375, -85.25390625, 9.073723793029785 ]
3.133333
94
0
94
0
[ 14.0625, 111.357421875, 139.74609375, 37.880859375, -9.052734375, 18.67940902709961 ]
[ 13.798828125, 110.56640625, 140.009765625, 35.947265625, -85.25390625, 11.531190872192383 ]
3.166667
95
0
95
0
[ 14.0625, 111.357421875, 139.74609375, 38.671875, -9.052734375, 20.677671432495117 ]
[ 13.798828125, 110.56640625, 140.009765625, 36.5625, -85.25390625, 13.799622535705566 ]
3.2
96
0
96
0
[ 14.0625, 111.357421875, 139.658203125, 39.19921875, -9.052734375, 22.589054107666016 ]
[ 13.798828125, 110.56640625, 140.009765625, 37.265625, -85.25390625, 16.06805419921875 ]
3.233333
97
0
97
0
[ 14.0625, 111.357421875, 139.658203125, 39.55078125, -9.052734375, 24.239791870117188 ]
[ 13.798828125, 110.56640625, 140.009765625, 37.96875, -85.25390625, 17.958412170410156 ]
3.266667
98
0
98
0
[ 13.974609375, 111.357421875, 139.658203125, 39.638671875, -9.052734375, 25.716766357421875 ]
[ 13.798828125, 110.56640625, 140.009765625, 38.49609375, -85.25390625, 19.848772048950195 ]
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": 1796,
    "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": {
            "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.laptop": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
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            "names": [
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            "info": {
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        "observation.images.phone": {
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            "names": [
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            "info": {
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "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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