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Datasets:
apayan
/
so100_key3

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
1
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action
sequence
observation.state
sequence
timestamp
float32
0
29
frame_index
int64
0
870
episode_index
int64
0
69
index
int64
0
58.1k
task_index
int64
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69
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[ 2.197265625, 186.328125, 177.01171875, 32.607421875, -4.921875, 0.09363295882940292 ]
[ 1.669921875, 185.888671875, 177.978515625, 36.826171875, -4.921875, 0.6245663166046143 ]
2.333333
70
0
70
0
[ 2.28515625, 186.328125, 176.748046875, 31.2890625, -4.921875, 0.09363295882940292 ]
[ 1.669921875, 185.888671875, 177.978515625, 35.68359375, -4.921875, 0.6245663166046143 ]
2.366667
71
0
71
0
[ 2.4609375, 186.328125, 176.396484375, 30.05859375, -4.921875, 0.09363295882940292 ]
[ 1.669921875, 185.888671875, 177.890625, 34.541015625, -4.921875, 0.6245663166046143 ]
2.4
72
0
72
0
[ 2.548828125, 186.328125, 176.044921875, 28.828125, -4.921875, 0.09363295882940292 ]
[ 1.669921875, 185.888671875, 177.71484375, 33.22265625, -4.921875, 0.6245663166046143 ]
2.433333
73
0
73
0
[ 2.63671875, 186.328125, 175.517578125, 27.94921875, -4.921875, 0.09363295882940292 ]
[ 1.845703125, 185.888671875, 177.71484375, 32.080078125, -4.921875, 0.6245663166046143 ]
2.466667
74
0
74
0
[ 2.63671875, 186.328125, 175.078125, 26.89453125, -4.921875, 0.09363295882940292 ]
[ 2.109375, 185.888671875, 177.71484375, 30.849609375, -4.921875, 0.6245663166046143 ]
2.5
75
0
75
0
[ 2.63671875, 186.328125, 174.90234375, 25.6640625, -4.921875, 0.09363295882940292 ]
[ 2.197265625, 185.888671875, 177.5390625, 29.794921875, -4.921875, 0.6245663166046143 ]
2.533333
76
0
76
0
[ 2.63671875, 186.328125, 174.814453125, 24.43359375, -4.921875, 0.09363295882940292 ]
[ 2.197265625, 185.888671875, 177.36328125, 28.740234375, -4.921875, 0.6245663166046143 ]
2.566667
77
0
77
0
[ 2.63671875, 186.328125, 174.814453125, 23.115234375, -4.921875, 0.09363295882940292 ]
[ 2.197265625, 185.888671875, 177.275390625, 27.59765625, -4.921875, 0.6245663166046143 ]
2.6
78
0
78
0
[ 2.63671875, 186.328125, 174.7265625, 21.708984375, -4.921875, 0.09363295882940292 ]
[ 2.197265625, 185.888671875, 177.1875, 26.455078125, -4.921875, 0.6245663166046143 ]
2.633333
79
0
79
0
[ 2.63671875, 186.328125, 174.462890625, 20.56640625, -4.921875, 0.09363295882940292 ]
[ 2.197265625, 185.888671875, 177.1875, 25.048828125, -4.921875, 0.6245663166046143 ]
2.666667
80
0
80
0
[ 2.63671875, 186.328125, 174.0234375, 19.599609375, -4.921875, 0.09363295882940292 ]
[ 2.197265625, 185.888671875, 177.1875, 23.818359375, -4.921875, 0.6245663166046143 ]
2.7
81
0
81
0
[ 2.63671875, 186.328125, 173.583984375, 18.80859375, -4.921875, 0.09363295882940292 ]
[ 2.197265625, 185.888671875, 176.923828125, 22.67578125, -4.921875, 0.6245663166046143 ]
2.733333
82
0
82
0
[ 2.63671875, 186.328125, 173.14453125, 18.6328125, -4.921875, 0.09363295882940292 ]
[ 2.197265625, 185.888671875, 176.484375, 21.62109375, -4.921875, 0.6245663166046143 ]
2.766667
83
0
83
0
[ 2.63671875, 186.328125, 172.96875, 17.9296875, -4.921875, 0.09363295882940292 ]
[ 2.197265625, 185.888671875, 176.044921875, 20.654296875, -4.921875, 0.6245663166046143 ]
2.8
84
0
84
0
[ 2.63671875, 186.328125, 172.79296875, 17.490234375, -4.921875, 0.09363295882940292 ]
[ 2.197265625, 185.888671875, 175.60546875, 20.126953125, -4.921875, 0.6245663166046143 ]
2.833333
85
0
85
0
[ 2.63671875, 186.328125, 172.705078125, 17.2265625, -5.09765625, 0.09363295882940292 ]
[ 2.197265625, 185.888671875, 175.341796875, 19.423828125, -4.921875, 0.6245663166046143 ]
2.866667
86
0
86
0
[ 2.900390625, 186.328125, 172.6171875, 16.69921875, -5.185546875, 0.09363295882940292 ]
[ 2.197265625, 185.888671875, 175.166015625, 18.896484375, -4.921875, 0.6245663166046143 ]
2.9
87
0
87
0
[ 3.251953125, 186.328125, 172.6171875, 16.083984375, -5.185546875, 0.09363295882940292 ]
[ 2.197265625, 185.888671875, 175.078125, 18.45703125, -4.921875, 0.6245663166046143 ]
2.933333
88
0
88
0
[ 3.603515625, 186.328125, 172.6171875, 15.908203125, -5.185546875, 0.09363295882940292 ]
[ 2.373046875, 185.888671875, 174.990234375, 17.9296875, -4.921875, 0.6245663166046143 ]
2.966667
89
0
89
0
[ 3.955078125, 186.328125, 172.6171875, 15.908203125, -5.2734375, 0.09363295882940292 ]
[ 2.8125, 185.888671875, 174.990234375, 17.40234375, -4.921875, 0.6245663166046143 ]
3
90
0
90
0
[ 4.482421875, 186.328125, 172.6171875, 15.556640625, -5.2734375, 0.09363295882940292 ]
[ 3.076171875, 185.888671875, 174.990234375, 17.138671875, -4.921875, 0.6245663166046143 ]
3.033333
91
0
91
0
[ 5.009765625, 186.328125, 172.6171875, 15.205078125, -5.2734375, 0.09363295882940292 ]
[ 3.427734375, 185.888671875, 174.990234375, 16.875, -4.921875, 0.6245663166046143 ]
3.066667
92
0
92
0
[ 5.625, 186.328125, 172.705078125, 14.853515625, -5.2734375, 0.09363295882940292 ]
[ 3.8671875, 185.888671875, 174.990234375, 16.611328125, -4.921875, 0.6245663166046143 ]
3.1
93
0
93
0
[ 6.15234375, 186.328125, 172.79296875, 14.58984375, -5.361328125, 0.09363295882940292 ]
[ 4.306640625, 185.888671875, 174.990234375, 16.259765625, -4.921875, 0.6245663166046143 ]
3.133333
94
0
94
0
[ 6.767578125, 186.328125, 173.056640625, 13.974609375, -5.44921875, 0.09363295882940292 ]
[ 4.921875, 185.888671875, 174.990234375, 15.908203125, -4.921875, 0.6245663166046143 ]
3.166667
95
0
95
0
[ 7.3828125, 186.328125, 173.232421875, 13.447265625, -5.44921875, 0.09363295882940292 ]
[ 5.361328125, 185.888671875, 174.990234375, 15.64453125, -4.921875, 0.6245663166046143 ]
3.2
96
0
96
0
[ 8.0859375, 186.328125, 173.232421875, 13.18359375, -5.44921875, 0.09363295882940292 ]
[ 5.9765625, 185.888671875, 174.990234375, 15.1171875, -4.921875, 0.6245663166046143 ]
3.233333
97
0
97
0
[ 8.61328125, 186.328125, 173.232421875, 13.0078125, -5.44921875, 0.09363295882940292 ]
[ 6.591796875, 185.888671875, 174.990234375, 14.677734375, -4.921875, 0.6245663166046143 ]
3.266667
98
0
98
0
[ 9.140625, 186.328125, 173.232421875, 12.919921875, -5.44921875, 0.09363295882940292 ]
[ 7.119140625, 185.888671875, 174.990234375, 14.4140625, -4.921875, 0.6245663166046143 ]
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": 10,
    "total_frames": 8294,
    "total_tasks": 1,
    "total_videos": 30,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
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    "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": {
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            "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": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.top": {
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            "names": [
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                "video.channels": 3,
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                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
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            "names": [
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            "info": {
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        },
        "observation.images.wrist": {
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            "shape": [
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                640,
                3
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            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
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                "video.channels": 3,
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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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        "episode_index": {
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        "index": {
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        "task_index": {
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            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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