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Datasets:
Xiewei1211
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so100_test1

Tasks:
Robotics
Modalities:
Tabular
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Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
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action
sequence
observation.state
sequence
timestamp
float32
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29.8
frame_index
int64
0
893
episode_index
int64
0
1
index
int64
0
1.5k
task_index
int64
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71
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[ 10.1953125, 95.80078125, -178.681640625, 62.9296875, -19.3359375, 32.05479431152344 ]
[ 10.72265625, 96.591796875, -173.935546875, 63.28125, -18.369140625, 31.69182014465332 ]
2.4
72
0
72
0
[ 9.931640625, 95.185546875, -179.47265625, 62.9296875, -19.599609375, 32.05479431152344 ]
[ 10.546875, 95.9765625, -174.7265625, 63.28125, -18.720703125, 31.69182014465332 ]
2.433333
73
0
73
0
[ 9.755859375, 94.658203125, -180.17578125, 62.9296875, -19.86328125, 32.05479431152344 ]
[ 10.37109375, 95.2734375, -175.517578125, 63.28125, -18.984375, 31.69182014465332 ]
2.466667
74
0
74
0
[ 9.580078125, 94.21875, -180.791015625, 62.9296875, -20.302734375, 32.05479431152344 ]
[ 10.37109375, 94.658203125, -176.30859375, 63.28125, -19.248046875, 31.69182014465332 ]
2.5
75
0
75
0
[ 9.404296875, 93.779296875, -181.142578125, 62.9296875, -20.654296875, 32.05479431152344 ]
[ 10.283203125, 94.21875, -176.923828125, 63.28125, -19.599609375, 31.69182014465332 ]
2.533333
76
0
76
0
[ 9.228515625, 93.33984375, -181.494140625, 62.9296875, -21.181640625, 32.05479431152344 ]
[ 10.107421875, 93.8671875, -177.451171875, 63.28125, -19.951171875, 31.69182014465332 ]
2.566667
77
0
77
0
[ 9.052734375, 92.900390625, -181.7578125, 62.9296875, -21.884765625, 32.05479431152344 ]
[ 9.84375, 93.251953125, -178.154296875, 63.28125, -20.390625, 31.69182014465332 ]
2.6
78
0
78
0
[ 8.96484375, 92.373046875, -182.109375, 62.9296875, -22.412109375, 32.05479431152344 ]
[ 9.4921875, 92.900390625, -178.59375, 63.28125, -20.830078125, 31.69182014465332 ]
2.633333
79
0
79
0
[ 8.7890625, 91.845703125, -182.4609375, 62.9296875, -22.8515625, 32.05479431152344 ]
[ 9.228515625, 92.373046875, -178.857421875, 63.28125, -21.4453125, 31.69182014465332 ]
2.666667
80
0
80
0
[ 8.701171875, 91.40625, -182.900390625, 62.9296875, -23.37890625, 32.05479431152344 ]
[ 9.052734375, 91.7578125, -179.296875, 63.28125, -21.884765625, 31.69182014465332 ]
2.7
81
0
81
0
[ 8.525390625, 90.87890625, -183.33984375, 62.9296875, -24.08203125, 32.05479431152344 ]
[ 9.052734375, 91.23046875, -179.6484375, 63.28125, -22.32421875, 31.69182014465332 ]
2.733333
82
0
82
0
[ 8.4375, 90.439453125, -183.603515625, 62.9296875, -24.78515625, 32.05479431152344 ]
[ 9.052734375, 90.791015625, -180.087890625, 63.28125, -23.02734375, 31.69182014465332 ]
2.766667
83
0
83
0
[ 8.26171875, 89.912109375, -183.955078125, 63.017578125, -25.400390625, 32.05479431152344 ]
[ 9.140625, 90.263671875, -180.615234375, 63.28125, -23.642578125, 31.69182014465332 ]
2.8
84
0
84
0
[ 8.173828125, 89.384765625, -184.21875, 63.10546875, -26.015625, 32.05479431152344 ]
[ 9.052734375, 89.82421875, -180.87890625, 63.28125, -24.169921875, 31.69182014465332 ]
2.833333
85
0
85
0
[ 8.173828125, 88.857421875, -184.306640625, 63.10546875, -26.630859375, 32.05479431152344 ]
[ 8.7890625, 89.384765625, -181.23046875, 63.28125, -24.873046875, 31.7712459564209 ]
2.866667
86
0
86
0
[ 8.0859375, 88.330078125, -184.39453125, 63.10546875, -26.982421875, 32.05479431152344 ]
[ 8.525390625, 88.681640625, -181.40625, 63.28125, -25.48828125, 31.7712459564209 ]
2.9
87
0
87
0
[ 7.998046875, 87.802734375, -184.39453125, 63.10546875, -27.24609375, 32.05479431152344 ]
[ 8.26171875, 88.2421875, -181.669921875, 63.28125, -25.927734375, 31.7712459564209 ]
2.933333
88
0
88
0
[ 7.91015625, 87.36328125, -184.39453125, 63.10546875, -27.59765625, 32.05479431152344 ]
[ 8.173828125, 87.802734375, -181.669921875, 63.28125, -26.3671875, 31.7712459564209 ]
2.966667
89
0
89
0
[ 7.734375, 86.8359375, -184.39453125, 63.10546875, -27.94921875, 32.05479431152344 ]
[ 8.173828125, 87.275390625, -181.669921875, 63.28125, -26.806640625, 31.7712459564209 ]
3
90
0
90
0
[ 7.470703125, 86.30859375, -184.39453125, 63.10546875, -28.125, 32.05479431152344 ]
[ 8.349609375, 86.748046875, -181.669921875, 63.28125, -27.158203125, 31.7712459564209 ]
3.033333
91
0
91
0
[ 7.20703125, 85.693359375, -184.39453125, 62.841796875, -28.212890625, 32.05479431152344 ]
[ 8.4375, 86.220703125, -181.669921875, 63.28125, -27.421875, 31.7712459564209 ]
3.066667
92
0
92
0
[ 6.85546875, 85.078125, -184.74609375, 62.841796875, -28.30078125, 32.05479431152344 ]
[ 8.26171875, 85.693359375, -181.669921875, 63.28125, -27.59765625, 31.7712459564209 ]
3.1
93
0
93
0
[ 6.591796875, 84.375, -185.09765625, 62.841796875, -28.388671875, 32.05479431152344 ]
[ 7.734375, 84.90234375, -181.845703125, 63.28125, -27.7734375, 31.7712459564209 ]
3.133333
94
0
94
0
[ 6.328125, 83.671875, -185.712890625, 62.841796875, -28.388671875, 32.05479431152344 ]
[ 7.20703125, 84.287109375, -182.109375, 63.28125, -27.94921875, 31.7712459564209 ]
3.166667
95
0
95
0
[ 6.15234375, 82.79296875, -186.50390625, 62.841796875, -28.4765625, 32.05479431152344 ]
[ 6.767578125, 83.671875, -182.4609375, 63.28125, -28.037109375, 31.7712459564209 ]
3.2
96
0
96
0
[ 5.888671875, 81.9140625, -187.294921875, 62.841796875, -28.740234375, 32.05479431152344 ]
[ 6.50390625, 82.79296875, -182.98828125, 63.28125, -28.037109375, 31.7712459564209 ]
3.233333
97
0
97
0
[ 5.712890625, 81.03515625, -188.173828125, 62.841796875, -28.916015625, 31.963470458984375 ]
[ 6.328125, 82.001953125, -183.603515625, 63.28125, -28.125, 31.7712459564209 ]
3.266667
98
0
98
0
[ 5.625, 80.068359375, -188.96484375, 62.841796875, -29.35546875, 31.963470458984375 ]
[ 6.240234375, 81.2109375, -184.306640625, 63.28125, -28.388671875, 31.7712459564209 ]
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": 1501,
    "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",
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                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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