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Datasets:
Reef123
/
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
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39.1
frame_index
int64
0
1.17k
episode_index
int64
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19
index
int64
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5.93k
task_index
int64
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[ 4.658203125, 155.56640625, 162.685546875, 56.865234375, 1.7578125, 0.26863667368888855 ]
2.333333
70
0
70
0
[ -1.142578125, 156.181640625, 160.048828125, 48.515625, 2.021484375, -0.09017132967710495 ]
[ 3.69140625, 155.56640625, 162.685546875, 56.162109375, 1.845703125, 0.26863667368888855 ]
2.366667
71
0
71
0
[ -2.021484375, 156.181640625, 158.90625, 44.82421875, 1.93359375, -0.09017132967710495 ]
[ 2.197265625, 155.56640625, 162.685546875, 54.755859375, 1.845703125, 0.26863667368888855 ]
2.4
72
0
72
0
[ -2.197265625, 156.181640625, 157.587890625, 41.30859375, 1.93359375, -0.09017132967710495 ]
[ 0.52734375, 155.56640625, 162.685546875, 52.294921875, 1.845703125, 0.26863667368888855 ]
2.433333
73
0
73
0
[ -3.076171875, 156.09375, 156.357421875, 37.96875, 1.93359375, -0.09017132967710495 ]
[ -0.87890625, 155.56640625, 162.158203125, 49.5703125, 1.845703125, 0.26863667368888855 ]
2.466667
74
0
74
0
[ -3.603515625, 155.830078125, 155.56640625, 34.62890625, 2.021484375, -0.09017132967710495 ]
[ -1.40625, 155.56640625, 161.279296875, 46.494140625, 1.845703125, 0.26863667368888855 ]
2.5
75
0
75
0
[ -5.009765625, 155.56640625, 155.126953125, 31.376953125, 1.93359375, -0.09017132967710495 ]
[ -1.7578125, 155.56640625, 160.224609375, 43.154296875, 1.845703125, 0.26863667368888855 ]
2.533333
76
0
76
0
[ -6.591796875, 156.09375, 155.478515625, 29.1796875, 1.93359375, -0.09017132967710495 ]
[ -2.63671875, 155.478515625, 159.169921875, 39.990234375, 1.845703125, 0.26863667368888855 ]
2.566667
77
0
77
0
[ -8.26171875, 156.09375, 155.390625, 28.125, 1.93359375, -0.09017132967710495 ]
[ -4.04296875, 155.478515625, 158.642578125, 36.73828125, 1.845703125, 0.26863667368888855 ]
2.6
78
0
78
0
[ -9.580078125, 156.181640625, 154.951171875, 27.861328125, 1.93359375, -0.09017132967710495 ]
[ -5.44921875, 155.56640625, 158.5546875, 33.662109375, 1.845703125, 0.26863667368888855 ]
2.633333
79
0
79
0
[ -10.810546875, 156.181640625, 154.86328125, 27.333984375, 1.93359375, -0.09017132967710495 ]
[ -6.85546875, 155.56640625, 158.466796875, 31.640625, 1.845703125, 0.26863667368888855 ]
2.666667
80
0
80
0
[ -11.865234375, 156.181640625, 154.423828125, 27.0703125, 1.93359375, -0.09017132967710495 ]
[ -7.998046875, 155.56640625, 158.203125, 30.498046875, 1.845703125, 0.26863667368888855 ]
2.7
81
0
81
0
[ -12.744140625, 156.09375, 153.80859375, 26.3671875, 1.93359375, -0.09017132967710495 ]
[ -9.228515625, 155.56640625, 157.939453125, 29.53125, 1.845703125, 0.26863667368888855 ]
2.733333
82
0
82
0
[ -13.18359375, 156.09375, 153.193359375, 25.048828125, 1.93359375, -0.09017132967710495 ]
[ -10.546875, 155.56640625, 157.587890625, 28.916015625, 1.845703125, 0.26863667368888855 ]
2.766667
83
0
83
0
[ -13.271484375, 156.09375, 152.314453125, 22.939453125, 2.021484375, -0.09017132967710495 ]
[ -11.689453125, 155.56640625, 157.236328125, 28.125, 1.845703125, 0.26863667368888855 ]
2.8
84
0
84
0
[ -13.7109375, 155.7421875, 151.34765625, 20.390625, 2.021484375, -0.09017132967710495 ]
[ -12.392578125, 155.56640625, 156.708984375, 27.0703125, 1.845703125, 0.26863667368888855 ]
2.833333
85
0
85
0
[ -14.150390625, 156.09375, 150.64453125, 18.369140625, 2.021484375, 0.45085662603378296 ]
[ -12.65625, 155.478515625, 156.005859375, 25.48828125, 1.845703125, 0.26863667368888855 ]
2.866667
86
0
86
0
[ -15.380859375, 156.26953125, 149.501953125, 16.5234375, 1.669921875, 0.45085662603378296 ]
[ -12.83203125, 155.478515625, 155.21484375, 23.642578125, 1.845703125, 0.26863667368888855 ]
2.9
87
0
87
0
[ -17.578125, 156.181640625, 147.744140625, 15.46875, 1.40625, 0.45085662603378296 ]
[ -13.447265625, 155.478515625, 154.3359375, 21.533203125, 1.845703125, 0.26863667368888855 ]
2.933333
88
0
88
0
[ -18.896484375, 156.181640625, 146.07421875, 15.1171875, 1.23046875, 0.45085662603378296 ]
[ -14.326171875, 155.478515625, 153.28125, 19.599609375, 1.845703125, 0.3357958197593689 ]
2.966667
89
0
89
0
[ -20.478515625, 156.09375, 144.052734375, 14.58984375, 1.142578125, 0.45085662603378296 ]
[ -15.8203125, 155.478515625, 152.05078125, 18.193359375, 1.58203125, 0.3357958197593689 ]
3
90
0
90
0
[ -21.796875, 155.478515625, 141.15234375, 14.94140625, 1.142578125, -0.1803426593542099 ]
[ -17.578125, 155.478515625, 150.46875, 17.314453125, 1.40625, 0.3357958197593689 ]
3.033333
91
0
91
0
[ -23.642578125, 155.390625, 138.427734375, 15.29296875, 1.0546875, -0.27051398158073425 ]
[ -19.072265625, 155.478515625, 148.7109375, 16.69921875, 1.318359375, 0.3357958197593689 ]
3.066667
92
0
92
0
[ -24.345703125, 155.390625, 135.703125, 16.69921875, 1.0546875, -0.27051398158073425 ]
[ -20.390625, 155.302734375, 146.6015625, 16.611328125, 1.318359375, 0.26863667368888855 ]
3.1
93
0
93
0
[ -24.873046875, 155.302734375, 132.626953125, 19.86328125, 0.439453125, -0.1803426593542099 ]
[ -21.533203125, 155.302734375, 144.31640625, 16.611328125, 1.318359375, 0.201477512717247 ]
3.133333
94
0
94
0
[ -25.13671875, 155.21484375, 129.55078125, 24.345703125, -0.791015625, -0.1803426593542099 ]
[ -22.67578125, 155.126953125, 141.85546875, 16.962890625, 1.318359375, 0.201477512717247 ]
3.166667
95
0
95
0
[ -25.13671875, 154.86328125, 126.9140625, 29.619140625, -2.021484375, 0.1803426593542099 ]
[ -23.90625, 155.126953125, 139.04296875, 18.544921875, 0.791015625, 0.201477512717247 ]
3.2
96
0
96
0
[ -25.13671875, 153.984375, 124.98046875, 34.62890625, -3.251953125, 0.1803426593542099 ]
[ -24.43359375, 155.126953125, 136.0546875, 21.005859375, -0.087890625, 0.201477512717247 ]
3.233333
97
0
97
0
[ -25.13671875, 152.490234375, 123.837890625, 39.638671875, -4.5703125, 0.3606853187084198 ]
[ -24.697265625, 155.0390625, 133.2421875, 24.43359375, -1.0546875, 0.201477512717247 ]
3.266667
98
0
98
0
[ -25.048828125, 150.99609375, 122.607421875, 45.087890625, -5.888671875, 0.3606853187084198 ]
[ -24.78515625, 154.51171875, 130.517578125, 28.4765625, -2.109375, 0.201477512717247 ]
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": 495,
    "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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                "video.codec": "av1",
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                "video.is_depth_map": false,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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                1
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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