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XXRRSSRR
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so100_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
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Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
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action
sequence
observation.state
sequence
timestamp
float32
0
19.3
frame_index
int64
0
578
episode_index
int64
0
1
index
int64
0
1.16k
task_index
int64
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0
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[ 0.615234375, 178.681640625, 160.400390625, -101.25, 28.564453125, -0.09823182970285416 ]
2.433333
73
0
73
0
[ 0.615234375, 178.154296875, 160.48828125, -101.337890625, 29.267578125, 0.2166847288608551 ]
[ 0.615234375, 178.681640625, 160.400390625, -101.25, 28.740234375, -0.09823182970285416 ]
2.466667
74
0
74
0
[ 0.615234375, 178.154296875, 160.48828125, -101.337890625, 29.443359375, 0.2166847288608551 ]
[ 0.615234375, 178.681640625, 160.400390625, -101.25, 29.00390625, -0.09823182970285416 ]
2.5
75
0
75
0
[ 0.615234375, 178.154296875, 160.48828125, -101.337890625, 29.619140625, 0.2166847288608551 ]
[ 0.615234375, 178.681640625, 160.400390625, -101.25, 29.091796875, -0.09823182970285416 ]
2.533333
76
0
76
0
[ 0.615234375, 178.154296875, 160.48828125, -101.337890625, 29.794921875, 0.2166847288608551 ]
[ 0.615234375, 178.681640625, 160.400390625, -101.25, 29.267578125, -0.09823182970285416 ]
2.566667
77
0
77
0
[ 0.87890625, 178.154296875, 160.48828125, -101.337890625, 29.794921875, 0.2166847288608551 ]
[ 0.615234375, 178.681640625, 160.400390625, -101.25, 29.443359375, -0.09823182970285416 ]
2.6
78
0
78
0
[ 1.318359375, 178.154296875, 160.48828125, -101.337890625, 29.53125, 0.2166847288608551 ]
[ 0.615234375, 178.681640625, 160.400390625, -101.25, 29.53125, -0.09823182970285416 ]
2.633333
79
0
79
0
[ 1.669921875, 178.154296875, 160.48828125, -101.337890625, 29.35546875, 0.2166847288608551 ]
[ 0.703125, 178.681640625, 160.400390625, -101.25, 29.619140625, -0.09823182970285416 ]
2.666667
80
0
80
0
[ 1.7578125, 178.154296875, 160.48828125, -101.337890625, 29.35546875, 0.2166847288608551 ]
[ 1.0546875, 178.681640625, 160.400390625, -101.25, 29.619140625, -0.09823182970285416 ]
2.7
81
0
81
0
[ 1.845703125, 178.154296875, 160.48828125, -101.337890625, 29.53125, 0.2166847288608551 ]
[ 1.40625, 178.681640625, 160.400390625, -101.25, 29.619140625, -0.09823182970285416 ]
2.733333
82
0
82
0
[ 1.845703125, 178.154296875, 160.48828125, -101.337890625, 29.8828125, 0.2166847288608551 ]
[ 1.669921875, 178.681640625, 160.400390625, -101.25, 29.619140625, -0.09823182970285416 ]
2.766667
83
0
83
0
[ 1.845703125, 178.154296875, 160.48828125, -101.337890625, 30.05859375, 0.2166847288608551 ]
[ 1.7578125, 178.681640625, 160.400390625, -101.25, 29.70703125, -0.09823182970285416 ]
2.8
84
0
84
0
[ 1.845703125, 178.154296875, 160.48828125, -101.337890625, 30.234375, 0.2166847288608551 ]
[ 1.7578125, 178.681640625, 160.400390625, -101.25, 29.70703125, -0.09823182970285416 ]
2.833333
85
0
85
0
[ 1.845703125, 178.154296875, 160.48828125, -101.337890625, 30.322265625, 0.2166847288608551 ]
[ 1.669921875, 178.681640625, 160.400390625, -101.25, 29.70703125, -0.09823182970285416 ]
2.866667
86
0
86
0
[ 1.845703125, 178.154296875, 160.48828125, -101.337890625, 30.5859375, 0.2166847288608551 ]
[ 1.494140625, 178.681640625, 160.400390625, -101.25, 29.8828125, -0.09823182970285416 ]
2.9
87
0
87
0
[ 1.845703125, 178.154296875, 160.48828125, -101.337890625, 30.76171875, 0.2166847288608551 ]
[ 1.40625, 178.681640625, 160.400390625, -101.25, 30.05859375, -0.09823182970285416 ]
2.933333
88
0
88
0
[ 1.845703125, 178.154296875, 160.48828125, -101.337890625, 30.9375, 0.2166847288608551 ]
[ 1.40625, 178.681640625, 160.400390625, -101.25, 30.322265625, -0.09823182970285416 ]
2.966667
89
0
89
0
[ 1.845703125, 178.154296875, 160.48828125, -101.337890625, 31.11328125, 0.2166847288608551 ]
[ 1.318359375, 178.681640625, 160.400390625, -101.25, 30.5859375, -0.09823182970285416 ]
3
90
0
90
0
[ 1.845703125, 178.154296875, 160.48828125, -101.337890625, 31.11328125, 0.2166847288608551 ]
[ 1.318359375, 178.681640625, 160.400390625, -101.25, 30.76171875, -0.09823182970285416 ]
3.033333
91
0
91
0
[ 1.845703125, 178.154296875, 160.48828125, -101.337890625, 31.201171875, 0.2166847288608551 ]
[ 1.318359375, 178.681640625, 160.400390625, -101.25, 30.9375, -0.09823182970285416 ]
3.066667
92
0
92
0
[ 1.845703125, 178.154296875, 160.48828125, -101.162109375, 31.2890625, 0.2166847288608551 ]
[ 1.58203125, 178.681640625, 160.400390625, -101.25, 30.9375, -0.09823182970285416 ]
3.1
93
0
93
0
[ 1.7578125, 178.154296875, 160.48828125, -100.01953125, 31.025390625, 0.2166847288608551 ]
[ 1.669921875, 178.681640625, 160.400390625, -101.25, 30.9375, -0.09823182970285416 ]
3.133333
94
0
94
0
[ 1.58203125, 178.154296875, 160.13671875, -97.734375, 30.76171875, 0.2166847288608551 ]
[ 1.7578125, 178.681640625, 160.400390625, -101.25, 30.9375, -0.09823182970285416 ]
3.166667
95
0
95
0
[ 1.23046875, 178.154296875, 158.5546875, -93.33984375, 30.146484375, 0.2166847288608551 ]
[ 1.669921875, 178.681640625, 160.400390625, -100.72265625, 30.9375, -0.09823182970285416 ]
3.2
96
0
96
0
[ 1.318359375, 178.154296875, 156.09375, -87.099609375, 29.267578125, 0.2166847288608551 ]
[ 1.494140625, 178.681640625, 160.400390625, -99.4921875, 30.849609375, -0.09823182970285416 ]
3.233333
97
0
97
0
[ 2.021484375, 178.154296875, 152.75390625, -79.453125, 28.212890625, 0.2166847288608551 ]
[ 1.494140625, 178.681640625, 160.048828125, -97.294921875, 30.41015625, -0.09823182970285416 ]
3.266667
98
0
98
0
[ 2.900390625, 178.154296875, 148.623046875, -70.3125, 27.685546875, 0.10834236443042755 ]
[ 1.494140625, 178.681640625, 158.73046875, -93.779296875, 29.70703125, -0.09823182970285416 ]
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": 1157,
    "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"
            ],
            "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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