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xchraf
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demo_sorbonne_close_box

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
Libraries:
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Dask
License:
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action
sequence
observation.state
sequence
timestamp
float32
0
14.8
frame_index
int64
0
444
episode_index
int64
0
2
index
int64
0
1.16k
task_index
int64
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[ -9.931640625, 137.724609375, 136.318359375, 48.251953125, -5.888671875, -0.7627118825912476 ]
[ -8.7890625, 138.427734375, 142.119140625, 48.69140625, -5.888671875, 0.213980033993721 ]
2.366667
71
0
71
0
[ -9.931640625, 137.28515625, 135.52734375, 48.251953125, -5.888671875, -0.7627118825912476 ]
[ -8.96484375, 138.076171875, 141.50390625, 48.69140625, -5.537109375, 0.213980033993721 ]
2.4
72
0
72
0
[ -9.931640625, 136.93359375, 134.82421875, 48.251953125, -5.888671875, -0.7627118825912476 ]
[ -9.140625, 137.373046875, 140.80078125, 48.69140625, -5.361328125, 0.213980033993721 ]
2.433333
73
0
73
0
[ -10.01953125, 136.58203125, 134.12109375, 48.251953125, -5.888671875, -0.7627118825912476 ]
[ -9.140625, 136.93359375, 139.921875, 48.69140625, -5.185546875, 0.213980033993721 ]
2.466667
74
0
74
0
[ -10.01953125, 136.318359375, 133.41796875, 48.251953125, -5.888671875, -0.7627118825912476 ]
[ -9.140625, 136.318359375, 139.21875, 48.69140625, -5.09765625, 0.213980033993721 ]
2.5
75
0
75
0
[ -10.107421875, 136.0546875, 132.802734375, 48.251953125, -5.80078125, -0.7627118825912476 ]
[ -9.140625, 135.966796875, 138.515625, 48.69140625, -5.185546875, 0.213980033993721 ]
2.533333
76
0
76
0
[ -10.107421875, 135.966796875, 132.275390625, 48.251953125, -5.80078125, -0.7627118825912476 ]
[ -9.140625, 135.87890625, 137.900390625, 48.69140625, -5.185546875, 0.213980033993721 ]
2.566667
77
0
77
0
[ -10.01953125, 135.703125, 131.572265625, 48.251953125, -5.80078125, -0.7627118825912476 ]
[ -9.404296875, 135.703125, 137.021484375, 48.69140625, -5.185546875, 0.213980033993721 ]
2.6
78
0
78
0
[ -9.84375, 135.439453125, 130.869140625, 48.251953125, -5.80078125, -0.7627118825912476 ]
[ -9.66796875, 135.263671875, 136.318359375, 48.69140625, -5.185546875, 0.213980033993721 ]
2.633333
79
0
79
0
[ -9.755859375, 134.912109375, 130.078125, 48.251953125, -5.80078125, -0.7627118825912476 ]
[ -9.931640625, 134.82421875, 135.703125, 48.69140625, -5.185546875, 0.213980033993721 ]
2.666667
80
0
80
0
[ -9.66796875, 134.560546875, 129.375, 48.251953125, -5.888671875, -0.7627118825912476 ]
[ -10.01953125, 134.6484375, 135, 48.69140625, -5.185546875, 0.213980033993721 ]
2.7
81
0
81
0
[ -9.580078125, 134.296875, 128.759765625, 48.251953125, -5.888671875, -0.7627118825912476 ]
[ -9.66796875, 134.208984375, 134.384765625, 48.69140625, -5.185546875, 0.213980033993721 ]
2.733333
82
0
82
0
[ -9.404296875, 134.033203125, 128.232421875, 48.251953125, -5.9765625, -0.7627118825912476 ]
[ -9.4921875, 133.857421875, 133.681640625, 48.69140625, -5.185546875, 0.213980033993721 ]
2.766667
83
0
83
0
[ -9.31640625, 133.76953125, 127.6171875, 48.251953125, -5.9765625, -0.7627118825912476 ]
[ -9.140625, 133.681640625, 133.06640625, 48.69140625, -5.185546875, 0.213980033993721 ]
2.8
84
0
84
0
[ -9.228515625, 133.41796875, 127.001953125, 48.251953125, -6.064453125, -0.7627118825912476 ]
[ -8.876953125, 133.59375, 132.5390625, 48.69140625, -5.185546875, 0.213980033993721 ]
2.833333
85
0
85
0
[ -9.140625, 132.890625, 126.38671875, 48.251953125, -6.064453125, -0.7627118825912476 ]
[ -8.7890625, 133.154296875, 131.8359375, 48.69140625, -5.185546875, 0.213980033993721 ]
2.866667
86
0
86
0
[ -8.96484375, 132.36328125, 125.68359375, 48.251953125, -6.15234375, -0.7627118825912476 ]
[ -8.7890625, 132.802734375, 131.30859375, 48.69140625, -5.361328125, 0.213980033993721 ]
2.9
87
0
87
0
[ -8.876953125, 131.66015625, 124.98046875, 48.251953125, -6.240234375, -0.7627118825912476 ]
[ -8.7890625, 132.275390625, 130.693359375, 48.69140625, -5.537109375, 0.213980033993721 ]
2.933333
88
0
88
0
[ -8.701171875, 130.95703125, 124.365234375, 48.251953125, -6.328125, -0.7627118825912476 ]
[ -8.7890625, 131.8359375, 129.814453125, 48.69140625, -5.625, 0.213980033993721 ]
2.966667
89
0
89
0
[ -8.61328125, 130.25390625, 123.662109375, 48.251953125, -6.50390625, -0.7627118825912476 ]
[ -8.7890625, 131.220703125, 129.111328125, 48.69140625, -5.712890625, 0.213980033993721 ]
3
90
0
90
0
[ -8.4375, 129.638671875, 122.958984375, 48.251953125, -6.50390625, -0.7627118825912476 ]
[ -8.525390625, 130.4296875, 128.408203125, 48.69140625, -5.80078125, 0.213980033993721 ]
3.033333
91
0
91
0
[ -8.349609375, 129.0234375, 122.255859375, 48.251953125, -6.50390625, -0.7627118825912476 ]
[ -8.349609375, 129.990234375, 127.705078125, 48.69140625, -5.80078125, 0.213980033993721 ]
3.066667
92
0
92
0
[ -8.26171875, 128.3203125, 121.46484375, 48.251953125, -6.50390625, -0.7627118825912476 ]
[ -8.0859375, 129.287109375, 127.08984375, 48.69140625, -5.80078125, 0.213980033993721 ]
3.1
93
0
93
0
[ -8.173828125, 127.705078125, 120.76171875, 48.251953125, -6.591796875, -0.7627118825912476 ]
[ -7.822265625, 128.84765625, 126.38671875, 48.69140625, -5.80078125, 0.213980033993721 ]
3.133333
94
0
94
0
[ -8.173828125, 127.001953125, 120.05859375, 48.251953125, -6.6796875, -0.7627118825912476 ]
[ -7.822265625, 128.14453125, 125.771484375, 48.69140625, -5.80078125, 0.213980033993721 ]
3.166667
95
0
95
0
[ -8.0859375, 126.298828125, 119.443359375, 48.251953125, -6.767578125, -0.7627118825912476 ]
[ -7.822265625, 127.353515625, 125.068359375, 48.69140625, -5.80078125, 0.213980033993721 ]
3.2
96
0
96
0
[ -8.0859375, 125.5078125, 118.828125, 48.251953125, -6.767578125, -0.7627118825912476 ]
[ -7.822265625, 126.826171875, 124.453125, 48.69140625, -5.80078125, 0.213980033993721 ]
3.233333
97
0
97
0
[ -8.0859375, 124.716796875, 118.212890625, 48.1640625, -6.85546875, -0.7627118825912476 ]
[ -7.822265625, 126.03515625, 123.837890625, 48.69140625, -5.80078125, 0.213980033993721 ]
3.266667
98
0
98
0
[ -8.0859375, 124.013671875, 117.685546875, 48.076171875, -6.943359375, -0.7627118825912476 ]
[ -7.822265625, 125.15625, 123.046875, 48.69140625, -5.80078125, 0.213980033993721 ]
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": 3,
    "total_frames": 1156,
    "total_tasks": 1,
    "total_videos": 6,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:3"
    },
    "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": [
                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
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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