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Datasets:
FsqZ
/
so100_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
Libraries:
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Dask
License:
Dataset card Data Studio Files Community
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action
sequence
observation.state
sequence
timestamp
float32
0
23.6
frame_index
int64
0
589
episode_index
int64
0
4
index
int64
0
2.66k
task_index
int64
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[ -17.490234375, 106.875, 95.009765625, 56.162109375, -8.7890625, 49.80276107788086 ]
2.92
73
0
73
0
[ -19.775390625, 108.6328125, 91.23046875, 55.283203125, -9.140625, 50 ]
[ -17.666015625, 106.875, 94.921875, 56.162109375, -8.7890625, 49.80276107788086 ]
2.96
74
0
74
0
[ -20.0390625, 108.28125, 91.23046875, 55.283203125, -9.140625, 50 ]
[ -18.10546875, 106.875, 94.921875, 56.162109375, -8.7890625, 49.80276107788086 ]
3
75
0
75
0
[ -20.302734375, 107.75390625, 91.23046875, 55.283203125, -9.052734375, 50 ]
[ -18.45703125, 106.875, 94.921875, 56.162109375, -8.701171875, 49.80276107788086 ]
3.04
76
0
76
0
[ -20.56640625, 107.05078125, 91.23046875, 55.283203125, -9.052734375, 50 ]
[ -18.984375, 106.787109375, 94.921875, 56.162109375, -8.7890625, 49.80276107788086 ]
3.08
77
0
77
0
[ -20.830078125, 106.083984375, 91.0546875, 55.283203125, -8.96484375, 50 ]
[ -19.423828125, 106.259765625, 94.921875, 56.162109375, -8.7890625, 49.80276107788086 ]
3.12
78
0
78
0
[ -21.181640625, 104.765625, 90.966796875, 55.283203125, -8.96484375, 50 ]
[ -19.86328125, 105.8203125, 94.921875, 56.162109375, -8.61328125, 49.80276107788086 ]
3.16
79
0
79
0
[ -21.62109375, 103.359375, 90.966796875, 55.283203125, -8.96484375, 50.088653564453125 ]
[ -20.0390625, 104.94140625, 94.921875, 56.162109375, -8.349609375, 49.80276107788086 ]
3.2
80
0
80
0
[ -21.796875, 101.953125, 90.087890625, 55.283203125, -8.96484375, 50.088653564453125 ]
[ -20.0390625, 103.7109375, 94.921875, 56.162109375, -8.26171875, 49.80276107788086 ]
3.24
81
0
81
0
[ -21.97265625, 100.634765625, 89.296875, 55.283203125, -8.96484375, 50.088653564453125 ]
[ -20.302734375, 102.392578125, 94.921875, 56.162109375, -8.0859375, 49.80276107788086 ]
3.28
82
0
82
0
[ -22.1484375, 99.404296875, 88.59375, 55.283203125, -9.052734375, 50.088653564453125 ]
[ -20.390625, 100.72265625, 94.921875, 56.162109375, -7.998046875, 49.80276107788086 ]
3.32
83
0
83
0
[ -22.32421875, 98.349609375, 87.978515625, 55.283203125, -9.052734375, 50.088653564453125 ]
[ -20.56640625, 99.31640625, 94.39453125, 56.162109375, -8.26171875, 49.80276107788086 ]
3.36
84
0
84
0
[ -22.5, 97.294921875, 87.1875, 55.283203125, -9.052734375, 50.088653564453125 ]
[ -21.005859375, 98.0859375, 93.69140625, 56.162109375, -8.349609375, 49.80276107788086 ]
3.4
85
0
85
0
[ -22.67578125, 96.328125, 86.30859375, 55.283203125, -9.140625, 50.177303314208984 ]
[ -21.357421875, 97.119140625, 92.724609375, 56.162109375, -8.61328125, 49.80276107788086 ]
3.44
86
0
86
0
[ -22.939453125, 95.2734375, 85.166015625, 55.283203125, -9.31640625, 50.26595687866211 ]
[ -21.796875, 96.15234375, 91.845703125, 56.162109375, -8.96484375, 49.80276107788086 ]
3.48
87
0
87
0
[ -23.02734375, 94.39453125, 83.84765625, 55.283203125, -9.66796875, 50.26595687866211 ]
[ -21.97265625, 95.009765625, 90.87890625, 56.162109375, -8.96484375, 49.80276107788086 ]
3.52
88
0
88
0
[ -23.02734375, 93.427734375, 82.529296875, 55.283203125, -9.931640625, 50.53191375732422 ]
[ -22.060546875, 93.8671875, 89.912109375, 56.162109375, -8.96484375, 49.80276107788086 ]
3.56
89
0
89
0
[ -23.02734375, 92.724609375, 81.2109375, 55.283203125, -10.107421875, 52.30496597290039 ]
[ -22.060546875, 92.900390625, 88.59375, 56.162109375, -8.96484375, 49.80276107788086 ]
3.6
90
0
90
0
[ -23.115234375, 92.109375, 80.068359375, 55.283203125, -10.283203125, 52.83687973022461 ]
[ -22.1484375, 91.93359375, 87.5390625, 56.162109375, -8.96484375, 49.80276107788086 ]
3.64
91
0
91
0
[ -23.203125, 91.669921875, 79.453125, 55.283203125, -10.283203125, 53.10283660888672 ]
[ -22.236328125, 91.0546875, 86.396484375, 56.162109375, -9.31640625, 50.59171676635742 ]
3.68
92
0
92
0
[ -23.291015625, 91.494140625, 79.27734375, 55.283203125, -10.283203125, 53.10283660888672 ]
[ -22.5, 90.439453125, 85.4296875, 56.162109375, -9.755859375, 51.28205108642578 ]
3.72
93
0
93
0
[ -23.291015625, 91.40625, 79.27734375, 55.283203125, -10.283203125, 53.10283660888672 ]
[ -22.67578125, 89.912109375, 84.55078125, 56.162109375, -9.755859375, 51.97238540649414 ]
3.76
94
0
94
0
[ -23.291015625, 91.40625, 79.27734375, 55.283203125, -10.283203125, 53.10283660888672 ]
[ -22.763671875, 89.560546875, 84.0234375, 56.162109375, -9.84375, 52.36686325073242 ]
3.8
95
0
95
0
[ -23.291015625, 91.40625, 79.27734375, 55.283203125, -10.283203125, 53.10283660888672 ]
[ -22.763671875, 89.47265625, 83.84765625, 56.162109375, -9.84375, 52.56410217285156 ]
3.84
96
0
96
0
[ -23.291015625, 91.318359375, 79.27734375, 55.283203125, -10.283203125, 53.10283660888672 ]
[ -22.763671875, 89.47265625, 83.759765625, 56.162109375, -9.84375, 52.662723541259766 ]
3.88
97
0
97
0
[ -23.291015625, 91.142578125, 79.27734375, 55.283203125, -10.37109375, 53.28014373779297 ]
[ -22.763671875, 89.47265625, 83.759765625, 56.162109375, -9.84375, 52.7613410949707 ]
3.92
98
0
98
0
[ -23.37890625, 90.87890625, 79.27734375, 55.283203125, -10.37109375, 53.45744705200195 ]
[ -22.763671875, 89.47265625, 83.759765625, 56.162109375, -9.84375, 52.85995864868164 ]
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": "v2.0",
    "robot_type": "so100",
    "total_episodes": 5,
    "total_frames": 2665,
    "total_tasks": 1,
    "total_videos": 5,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 25,
    "splits": {
        "train": "0:5"
    },
    "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.side": {
            "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": {
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            "shape": [
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            "names": null
        },
        "index": {
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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