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Datasets:
amiune
/
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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action
sequence
observation.state
sequence
timestamp
float32
0
19.9
frame_index
int64
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597
episode_index
int64
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[ -22.763671875, 55.1953125, 80.68359375, 24.609375, 20.21484375, 0.07087171822786331 ]
2.6
78
0
78
0
[ -19.599609375, 65.830078125, 82.353515625, 23.642578125, 21.09375, 0 ]
[ -22.32421875, 55.546875, 81.38671875, 24.2578125, 20.654296875, 0.07087171822786331 ]
2.633333
79
0
79
0
[ -19.248046875, 65.91796875, 82.353515625, 23.5546875, 21.26953125, 0 ]
[ -21.796875, 55.634765625, 81.5625, 23.90625, 20.654296875, 0.07087171822786331 ]
2.666667
80
0
80
0
[ -18.984375, 66.005859375, 82.177734375, 23.466796875, 21.62109375, 0 ]
[ -21.4453125, 55.72265625, 81.73828125, 23.642578125, 20.7421875, 0.07087171822786331 ]
2.7
81
0
81
0
[ -18.6328125, 66.09375, 81.826171875, 23.203125, 21.884765625, 0 ]
[ -20.91796875, 55.810546875, 81.9140625, 23.5546875, 20.7421875, 0.07087171822786331 ]
2.733333
82
0
82
0
[ -18.369140625, 66.09375, 81.474609375, 22.8515625, 22.412109375, 0 ]
[ -20.56640625, 55.810546875, 81.9140625, 23.466796875, 20.91796875, 0.07087171822786331 ]
2.766667
83
0
83
0
[ -18.10546875, 66.09375, 81.03515625, 22.587890625, 23.02734375, 0 ]
[ -20.21484375, 55.810546875, 81.9140625, 23.203125, 20.91796875, 0.07087171822786331 ]
2.8
84
0
84
0
[ -17.841796875, 66.005859375, 80.419921875, 22.5, 23.642578125, 0 ]
[ -19.775390625, 55.810546875, 81.9140625, 22.939453125, 21.4453125, 0.07087171822786331 ]
2.833333
85
0
85
0
[ -17.578125, 66.005859375, 79.892578125, 22.5, 23.818359375, 0 ]
[ -19.51171875, 55.810546875, 81.9140625, 22.8515625, 22.060546875, 0.07087171822786331 ]
2.866667
86
0
86
0
[ -17.40234375, 65.91796875, 79.541015625, 22.5, 24.345703125, 0 ]
[ -19.16015625, 55.810546875, 81.9140625, 22.8515625, 22.236328125, 0.07087171822786331 ]
2.9
87
0
87
0
[ -17.05078125, 65.91796875, 79.27734375, 22.5, 24.609375, 0 ]
[ -18.896484375, 55.810546875, 81.9140625, 22.8515625, 22.5, 0.07087171822786331 ]
2.933333
88
0
88
0
[ -16.787109375, 65.91796875, 79.1015625, 22.5, 24.697265625, 0 ]
[ -18.544921875, 55.810546875, 81.9140625, 22.8515625, 23.02734375, 0.07087171822786331 ]
2.966667
89
0
89
0
[ -16.5234375, 65.91796875, 79.1015625, 22.5, 25.048828125, 0 ]
[ -18.193359375, 55.810546875, 81.9140625, 22.8515625, 23.37890625, 0.07087171822786331 ]
3
90
0
90
0
[ -16.171875, 65.91796875, 79.013671875, 22.5, 25.224609375, 0 ]
[ -17.9296875, 55.810546875, 81.9140625, 22.8515625, 23.642578125, 0.07087171822786331 ]
3.033333
91
0
91
0
[ -15.732421875, 65.91796875, 78.92578125, 22.5, 25.224609375, 0 ]
[ -17.841796875, 55.810546875, 81.9140625, 22.8515625, 24.169921875, 0.07087171822786331 ]
3.066667
92
0
92
0
[ -15.380859375, 66.005859375, 78.837890625, 22.5, 25.3125, 0 ]
[ -17.40234375, 55.810546875, 81.9140625, 22.8515625, 24.43359375, 0.07087171822786331 ]
3.1
93
0
93
0
[ -14.94140625, 66.09375, 78.837890625, 22.5, 25.3125, 0 ]
[ -17.138671875, 55.810546875, 81.9140625, 22.8515625, 24.521484375, 0.07087171822786331 ]
3.133333
94
0
94
0
[ -14.501953125, 66.26953125, 78.837890625, 22.5, 25.3125, 0 ]
[ -16.875, 55.810546875, 81.9140625, 22.8515625, 24.697265625, 0.07087171822786331 ]
3.166667
95
0
95
0
[ -14.0625, 66.26953125, 78.92578125, 22.5, 25.13671875, 0 ]
[ -16.435546875, 55.810546875, 81.9140625, 22.8515625, 24.697265625, 0.07087171822786331 ]
3.2
96
0
96
0
[ -13.623046875, 66.357421875, 79.013671875, 22.5, 25.13671875, 0 ]
[ -16.171875, 55.810546875, 81.9140625, 22.8515625, 24.78515625, 0.07087171822786331 ]
3.233333
97
0
97
0
[ -13.18359375, 66.4453125, 79.1015625, 22.5, 25.13671875, 0 ]
[ -15.732421875, 55.810546875, 81.9140625, 22.8515625, 24.873046875, 0.07087171822786331 ]
3.266667
98
0
98
0
[ -12.744140625, 66.62109375, 79.189453125, 22.5, 24.9609375, 0 ]
[ -15.380859375, 55.810546875, 81.9140625, 22.8515625, 24.873046875, 0.07087171822786331 ]
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": 1192,
    "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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