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Datasets:
GavinDai
/
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
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sequence
observation.state
sequence
timestamp
float32
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29.8
frame_index
int64
0
895
episode_index
int64
0
1
index
int64
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1.79k
task_index
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[ -3.69140625, 159.169921875, 158.02734375, 47.373046875, 0.17578125, 2.0720720291137695 ]
[ -3.33984375, 159.08203125, 161.89453125, 45.966796875, -0.263671875, 1.6233766078948975 ]
2.433333
73
0
73
0
[ -3.955078125, 159.169921875, 157.236328125, 48.1640625, 0.17578125, 2.0720720291137695 ]
[ -3.427734375, 159.08203125, 161.455078125, 45.966796875, -0.263671875, 1.6233766078948975 ]
2.466667
74
0
74
0
[ -4.306640625, 159.169921875, 156.26953125, 49.130859375, 0.17578125, 2.0720720291137695 ]
[ -3.427734375, 159.08203125, 161.015625, 46.494140625, -0.263671875, 1.6233766078948975 ]
2.5
75
0
75
0
[ -4.39453125, 159.169921875, 155.0390625, 50.44921875, 0.17578125, 2.0720720291137695 ]
[ -3.427734375, 159.08203125, 160.3125, 47.28515625, -0.263671875, 1.6233766078948975 ]
2.533333
76
0
76
0
[ -4.482421875, 159.169921875, 153.6328125, 51.85546875, 0.17578125, 2.0720720291137695 ]
[ -3.427734375, 159.08203125, 159.43359375, 48.1640625, -0.263671875, 1.6233766078948975 ]
2.566667
77
0
77
0
[ -4.482421875, 159.169921875, 152.138671875, 53.349609375, 0.17578125, 2.0720720291137695 ]
[ -3.603515625, 159.08203125, 158.37890625, 48.955078125, -0.263671875, 1.6233766078948975 ]
2.6
78
0
78
0
[ -4.482421875, 159.169921875, 150.556640625, 54.931640625, 0.17578125, 2.0720720291137695 ]
[ -3.955078125, 159.08203125, 157.060546875, 50.009765625, -0.263671875, 1.6233766078948975 ]
2.633333
79
0
79
0
[ -4.5703125, 159.169921875, 148.88671875, 56.513671875, 0.17578125, 2.0720720291137695 ]
[ -4.130859375, 159.08203125, 155.56640625, 51.240234375, -0.263671875, 1.6233766078948975 ]
2.666667
80
0
80
0
[ -4.5703125, 159.169921875, 146.953125, 58.095703125, 0.17578125, 2.0720720291137695 ]
[ -4.04296875, 159.08203125, 153.80859375, 52.734375, -0.263671875, 1.6233766078948975 ]
2.7
81
0
81
0
[ -4.5703125, 159.169921875, 145.01953125, 59.58984375, 0.17578125, 2.0720720291137695 ]
[ -3.8671875, 159.08203125, 152.138671875, 53.96484375, -0.263671875, 1.6233766078948975 ]
2.733333
82
0
82
0
[ -4.5703125, 159.169921875, 143.0859375, 60.908203125, 0.17578125, 2.0720720291137695 ]
[ -3.779296875, 159.08203125, 150.380859375, 55.8984375, -0.263671875, 1.6233766078948975 ]
2.766667
83
0
83
0
[ -4.5703125, 159.169921875, 141.15234375, 62.314453125, 0.17578125, 2.0720720291137695 ]
[ -3.779296875, 159.08203125, 148.798828125, 57.216796875, -0.263671875, 1.6233766078948975 ]
2.8
84
0
84
0
[ -4.5703125, 159.08203125, 139.130859375, 63.45703125, 0.17578125, 2.0720720291137695 ]
[ -3.8671875, 159.08203125, 147.216796875, 58.623046875, -0.263671875, 1.6233766078948975 ]
2.833333
85
0
85
0
[ -4.5703125, 159.08203125, 137.28515625, 64.51171875, 0.17578125, 2.0720720291137695 ]
[ -3.955078125, 159.08203125, 145.458984375, 59.94140625, -0.263671875, 1.6233766078948975 ]
2.866667
86
0
86
0
[ -4.5703125, 159.08203125, 135.703125, 65.654296875, 0.17578125, 2.0720720291137695 ]
[ -4.04296875, 159.08203125, 143.4375, 61.34765625, -0.263671875, 1.6233766078948975 ]
2.9
87
0
87
0
[ -4.5703125, 159.08203125, 134.47265625, 66.708984375, 0.087890625, 2.0720720291137695 ]
[ -4.04296875, 159.08203125, 141.416015625, 62.490234375, -0.263671875, 1.6233766078948975 ]
2.933333
88
0
88
0
[ -4.5703125, 159.08203125, 133.681640625, 67.587890625, 0.087890625, 2.1621623039245605 ]
[ -3.955078125, 159.08203125, 139.306640625, 63.720703125, -0.263671875, 1.6233766078948975 ]
2.966667
89
0
89
0
[ -4.5703125, 159.08203125, 133.06640625, 68.37890625, 0.087890625, 2.1621623039245605 ]
[ -3.779296875, 159.169921875, 137.900390625, 64.599609375, -0.263671875, 1.6233766078948975 ]
3
90
0
90
0
[ -4.5703125, 159.08203125, 132.71484375, 68.90625, 0.087890625, 2.1621623039245605 ]
[ -3.779296875, 159.345703125, 136.669921875, 65.7421875, -0.263671875, 1.6233766078948975 ]
3.033333
91
0
91
0
[ -4.5703125, 159.169921875, 132.5390625, 69.169921875, 0.087890625, 2.1621623039245605 ]
[ -3.8671875, 159.345703125, 135.966796875, 66.62109375, -0.263671875, 1.6233766078948975 ]
3.066667
92
0
92
0
[ -4.5703125, 159.169921875, 132.5390625, 69.169921875, 0.087890625, 2.1621623039245605 ]
[ -3.955078125, 159.08203125, 135.087890625, 67.1484375, -0.263671875, 1.6233766078948975 ]
3.1
93
0
93
0
[ -4.5703125, 159.169921875, 132.71484375, 69.2578125, 0.087890625, 2.1621623039245605 ]
[ -3.955078125, 159.08203125, 134.736328125, 68.02734375, -0.263671875, 1.6233766078948975 ]
3.133333
94
0
94
0
[ -4.5703125, 159.43359375, 133.06640625, 69.2578125, 0.087890625, 2.1621623039245605 ]
[ -4.04296875, 159.345703125, 134.560546875, 68.37890625, -0.263671875, 1.6233766078948975 ]
3.166667
95
0
95
0
[ -4.482421875, 159.9609375, 133.2421875, 69.2578125, 0.087890625, 2.1621623039245605 ]
[ -4.04296875, 159.169921875, 134.296875, 68.642578125, -0.263671875, 1.6233766078948975 ]
3.2
96
0
96
0
[ -4.482421875, 160.048828125, 133.2421875, 69.2578125, 0.087890625, 2.1621623039245605 ]
[ -4.04296875, 159.08203125, 134.296875, 68.73046875, -0.263671875, 1.6233766078948975 ]
3.233333
97
0
97
0
[ -4.482421875, 160.048828125, 133.2421875, 69.2578125, 0.087890625, 2.1621623039245605 ]
[ -4.04296875, 159.169921875, 134.296875, 68.73046875, -0.263671875, 1.6233766078948975 ]
3.266667
98
0
98
0
[ -4.482421875, 160.048828125, 133.2421875, 69.2578125, 0.439453125, 2.0720720291137695 ]
[ -3.955078125, 159.521484375, 134.296875, 68.818359375, -0.263671875, 1.6233766078948975 ]
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": 2,
    "total_frames": 1792,
    "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": [
                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"
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            "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",
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                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Number of rows:
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