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Datasets:
AK51
/
so100_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
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
29.8
frame_index
int64
0
745
episode_index
int64
0
1
index
int64
0
1.49k
task_index
int64
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0
[ 1.669921875, 38.759765625, 13.0078125, 103.623046875, -55.283203125, 82.35294342041016 ]
[ 1.93359375, 37.880859375, 15.46875, 103.53515625, -54.931640625, 81.91632843017578 ]
2.88
72
0
72
0
[ 1.494140625, 38.759765625, 13.0078125, 103.623046875, -54.931640625, 82.35294342041016 ]
[ 1.669921875, 37.880859375, 15.46875, 103.53515625, -54.931640625, 81.91632843017578 ]
2.92
73
0
73
0
[ 1.142578125, 38.759765625, 13.18359375, 103.623046875, -54.931640625, 82.35294342041016 ]
[ 1.58203125, 37.880859375, 15.46875, 103.53515625, -54.931640625, 81.91632843017578 ]
2.96
74
0
74
0
[ 0.791015625, 38.759765625, 13.18359375, 103.623046875, -55.01953125, 82.25324249267578 ]
[ 1.494140625, 37.880859375, 15.46875, 103.53515625, -54.931640625, 81.91632843017578 ]
3
75
0
75
0
[ 0.439453125, 38.759765625, 13.18359375, 103.623046875, -55.01953125, 82.25324249267578 ]
[ 1.58203125, 37.880859375, 15.46875, 103.53515625, -54.931640625, 81.91632843017578 ]
3.04
76
0
76
0
[ 0.17578125, 38.671875, 13.18359375, 103.623046875, -55.1953125, 82.35294342041016 ]
[ 1.494140625, 37.880859375, 15.46875, 103.53515625, -54.931640625, 81.91632843017578 ]
3.08
77
0
77
0
[ -0.087890625, 38.408203125, 13.18359375, 103.623046875, -55.283203125, 82.5523452758789 ]
[ 1.142578125, 37.880859375, 15.46875, 103.53515625, -54.84375, 81.91632843017578 ]
3.12
78
0
78
0
[ -0.263671875, 38.056640625, 13.271484375, 103.623046875, -55.283203125, 82.65204620361328 ]
[ 0.615234375, 37.880859375, 15.46875, 103.53515625, -54.931640625, 81.91632843017578 ]
3.16
79
0
79
0
[ -0.263671875, 37.6171875, 13.271484375, 103.623046875, -54.931640625, 82.25324249267578 ]
[ 0.087890625, 37.705078125, 15.46875, 103.53515625, -54.931640625, 81.91632843017578 ]
3.2
80
0
80
0
[ -0.263671875, 37.265625, 13.271484375, 103.623046875, -54.84375, 82.25324249267578 ]
[ 0, 37.265625, 15.380859375, 103.623046875, -55.01953125, 81.91632843017578 ]
3.24
81
0
81
0
[ -0.263671875, 37.001953125, 14.23828125, 103.623046875, -54.755859375, 82.25324249267578 ]
[ 0, 36.73828125, 15.380859375, 103.623046875, -54.931640625, 81.91632843017578 ]
3.28
82
0
82
0
[ -0.263671875, 36.650390625, 15.1171875, 103.623046875, -54.84375, 82.25324249267578 ]
[ 0.263671875, 36.38671875, 15.380859375, 103.623046875, -54.931640625, 81.91632843017578 ]
3.32
83
0
83
0
[ -0.087890625, 35.947265625, 15.29296875, 103.623046875, -55.107421875, 82.25324249267578 ]
[ 0.3515625, 36.123046875, 15.380859375, 103.623046875, -54.931640625, 81.91632843017578 ]
3.36
84
0
84
0
[ 0.17578125, 35.15625, 15.029296875, 103.623046875, -55.283203125, 82.25324249267578 ]
[ 0.3515625, 35.859375, 15.556640625, 103.623046875, -54.931640625, 81.91632843017578 ]
3.4
85
0
85
0
[ 0.439453125, 34.189453125, 14.150390625, 103.623046875, -55.283203125, 82.25324249267578 ]
[ 0.17578125, 35.15625, 15.556640625, 103.623046875, -54.931640625, 81.91632843017578 ]
3.44
86
0
86
0
[ 0.615234375, 33.75, 13.798828125, 103.623046875, -55.283203125, 82.25324249267578 ]
[ 0, 34.27734375, 15.556640625, 103.623046875, -54.931640625, 81.91632843017578 ]
3.48
87
0
87
0
[ 0.703125, 33.486328125, 13.798828125, 103.623046875, -54.931640625, 82.25324249267578 ]
[ 0, 33.3984375, 15.556640625, 103.623046875, -54.931640625, 81.91632843017578 ]
3.52
88
0
88
0
[ 0.703125, 33.134765625, 13.798828125, 103.623046875, -54.931640625, 82.25324249267578 ]
[ 0.087890625, 32.87109375, 15.556640625, 103.623046875, -54.931640625, 81.91632843017578 ]
3.56
89
0
89
0
[ 0.52734375, 33.046875, 13.88671875, 103.623046875, -54.931640625, 82.25324249267578 ]
[ 0.17578125, 32.51953125, 15.556640625, 103.623046875, -54.931640625, 81.91632843017578 ]
3.6
90
0
90
0
[ 0.3515625, 33.046875, 13.974609375, 103.623046875, -55.283203125, 82.25324249267578 ]
[ 0.17578125, 32.34375, 15.556640625, 103.623046875, -54.931640625, 81.91632843017578 ]
3.64
91
0
91
0
[ 0.3515625, 33.046875, 13.623046875, 103.623046875, -55.283203125, 82.25324249267578 ]
[ 0.17578125, 32.16796875, 15.556640625, 103.623046875, -54.931640625, 81.91632843017578 ]
3.68
92
0
92
0
[ 0.3515625, 33.046875, 13.271484375, 103.623046875, -55.1953125, 82.65204620361328 ]
[ 0.17578125, 32.16796875, 15.556640625, 103.623046875, -55.01953125, 81.91632843017578 ]
3.72
93
0
93
0
[ 0.439453125, 33.046875, 13.0078125, 103.623046875, -54.755859375, 82.25324249267578 ]
[ 0.17578125, 32.16796875, 15.556640625, 103.623046875, -55.107421875, 81.91632843017578 ]
3.76
94
0
94
0
[ 0.439453125, 33.046875, 12.919921875, 103.623046875, -54.755859375, 82.25324249267578 ]
[ 0.17578125, 32.16796875, 15.556640625, 103.623046875, -55.107421875, 81.91632843017578 ]
3.8
95
0
95
0
[ 0.3515625, 33.22265625, 12.919921875, 103.623046875, -54.755859375, 82.25324249267578 ]
[ 0.17578125, 32.16796875, 15.556640625, 103.623046875, -55.01953125, 81.91632843017578 ]
3.84
96
0
96
0
[ 0.3515625, 33.3984375, 13.0078125, 103.623046875, -55.01953125, 82.25324249267578 ]
[ 0.17578125, 32.16796875, 15.556640625, 103.623046875, -55.01953125, 81.91632843017578 ]
3.88
97
0
97
0
[ 0.439453125, 33.486328125, 13.18359375, 103.623046875, -55.107421875, 82.25324249267578 ]
[ 0.17578125, 32.16796875, 15.556640625, 103.623046875, -55.01953125, 81.91632843017578 ]
3.92
98
0
98
0
[ 0.439453125, 33.486328125, 13.447265625, 103.623046875, -55.107421875, 82.25324249267578 ]
[ 0.17578125, 32.16796875, 15.556640625, 103.623046875, -55.01953125, 81.91632843017578 ]
3.96
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": 1492,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 25,
    "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": [
                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": 25.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "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": 25.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "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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