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Datasets:
apayan
/
so100_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
Dask
License:
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action
sequence
observation.state
sequence
timestamp
float32
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28.9
frame_index
int64
0
866
episode_index
int64
0
4
index
int64
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3.6k
task_index
int64
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[ -1.7578125, 186.328125, 173.232421875, 65.56640625, 3.8671875, 0.09363295882940292 ]
[ -1.23046875, 186.591796875, 174.90234375, 66.533203125, 3.955078125, 0.7633587718009949 ]
2.4
72
0
72
0
[ -1.494140625, 186.328125, 172.705078125, 65.56640625, 3.8671875, 0.09363295882940292 ]
[ -1.23046875, 186.591796875, 174.90234375, 66.533203125, 3.955078125, 0.7633587718009949 ]
2.433333
73
0
73
0
[ -1.494140625, 186.328125, 171.9140625, 65.56640625, 3.779296875, 0.09363295882940292 ]
[ -1.23046875, 186.591796875, 174.814453125, 66.357421875, 3.955078125, 0.7633587718009949 ]
2.466667
74
0
74
0
[ -1.494140625, 186.328125, 170.419921875, 66.005859375, 3.779296875, 0.09363295882940292 ]
[ -1.23046875, 186.591796875, 174.638671875, 66.357421875, 3.955078125, 0.7633587718009949 ]
2.5
75
0
75
0
[ -1.7578125, 186.328125, 169.013671875, 66.26953125, 3.69140625, 0 ]
[ -1.23046875, 186.50390625, 173.84765625, 66.4453125, 3.955078125, 0.7633587718009949 ]
2.533333
76
0
76
0
[ -2.197265625, 186.240234375, 167.51953125, 66.357421875, 3.69140625, 0 ]
[ -1.23046875, 186.416015625, 172.529296875, 66.4453125, 3.955078125, 0.7633587718009949 ]
2.566667
77
0
77
0
[ -2.63671875, 185.625, 166.025390625, 66.357421875, 3.603515625, 0 ]
[ -1.40625, 186.591796875, 171.38671875, 66.4453125, 3.955078125, 0.7633587718009949 ]
2.6
78
0
78
0
[ -3.076171875, 184.833984375, 164.619140625, 66.357421875, 3.515625, 0 ]
[ -2.021484375, 186.50390625, 170.15625, 66.4453125, 3.955078125, 0.7633587718009949 ]
2.633333
79
0
79
0
[ -3.603515625, 183.251953125, 163.125, 66.357421875, 3.33984375, 0 ]
[ -2.548828125, 185.9765625, 168.486328125, 66.4453125, 3.955078125, 0.7633587718009949 ]
2.666667
80
0
80
0
[ -4.04296875, 180.966796875, 161.3671875, 66.357421875, 3.33984375, 0 ]
[ -3.076171875, 185.09765625, 167.080078125, 66.4453125, 3.955078125, 0.7633587718009949 ]
2.7
81
0
81
0
[ -4.04296875, 178.330078125, 159.345703125, 66.357421875, 3.33984375, 0 ]
[ -3.251953125, 183.69140625, 165.673828125, 66.4453125, 3.955078125, 0.7633587718009949 ]
2.733333
82
0
82
0
[ -4.130859375, 175.78125, 157.5, 66.357421875, 3.33984375, 0 ]
[ -3.33984375, 182.021484375, 164.00390625, 66.4453125, 3.955078125, 0.7633587718009949 ]
2.766667
83
0
83
0
[ -4.130859375, 173.84765625, 155.654296875, 66.357421875, 3.33984375, 0 ]
[ -3.515625, 179.560546875, 162.0703125, 66.4453125, 3.955078125, 0.7633587718009949 ]
2.8
84
0
84
0
[ -4.130859375, 172.177734375, 153.896484375, 66.357421875, 3.33984375, 0 ]
[ -3.8671875, 177.36328125, 160.48828125, 66.4453125, 3.955078125, 0.7633587718009949 ]
2.833333
85
0
85
0
[ -4.130859375, 170.947265625, 152.314453125, 66.357421875, 3.33984375, 0 ]
[ -4.04296875, 175.341796875, 158.73046875, 66.4453125, 3.955078125, 0.7633587718009949 ]
2.866667
86
0
86
0
[ -4.130859375, 169.62890625, 150.8203125, 66.357421875, 3.33984375, 0 ]
[ -4.130859375, 173.759765625, 156.796875, 66.4453125, 3.955078125, 0.7633587718009949 ]
2.9
87
0
87
0
[ -4.130859375, 168.57421875, 149.58984375, 66.4453125, 3.33984375, 0 ]
[ -3.955078125, 172.6171875, 155.302734375, 66.4453125, 3.955078125, 0.7633587718009949 ]
2.933333
88
0
88
0
[ -4.130859375, 166.904296875, 148.271484375, 66.708984375, 3.33984375, 0 ]
[ -3.779296875, 170.947265625, 153.720703125, 66.4453125, 3.955078125, 0.7633587718009949 ]
2.966667
89
0
89
0
[ -4.130859375, 164.794921875, 146.77734375, 67.32421875, 3.33984375, 0 ]
[ -3.8671875, 169.365234375, 152.40234375, 66.533203125, 3.955078125, 0.7633587718009949 ]
3
90
0
90
0
[ -4.130859375, 162.24609375, 144.931640625, 68.115234375, 3.33984375, 0 ]
[ -3.955078125, 167.607421875, 150.8203125, 66.884765625, 3.955078125, 0.7633587718009949 ]
3.033333
91
0
91
0
[ -4.130859375, 159.697265625, 142.734375, 69.08203125, 3.33984375, 0 ]
[ -4.04296875, 165.5859375, 149.150390625, 67.5, 3.955078125, 0.7633587718009949 ]
3.066667
92
0
92
0
[ -4.130859375, 158.37890625, 141.15234375, 69.521484375, 3.33984375, 0 ]
[ -4.04296875, 163.65234375, 147.65625, 67.939453125, 3.955078125, 0.7633587718009949 ]
3.1
93
0
93
0
[ -4.130859375, 157.763671875, 139.5703125, 69.697265625, 3.33984375, 0 ]
[ -4.04296875, 161.103515625, 145.72265625, 68.73046875, 3.955078125, 0.7633587718009949 ]
3.133333
94
0
94
0
[ -4.130859375, 157.67578125, 138.427734375, 69.697265625, 3.33984375, 0 ]
[ -4.04296875, 159.78515625, 144.140625, 69.169921875, 3.955078125, 0.7633587718009949 ]
3.166667
95
0
95
0
[ -4.21875, 157.67578125, 137.021484375, 69.873046875, 3.33984375, 0 ]
[ -4.04296875, 159.2578125, 142.646484375, 69.345703125, 3.955078125, 0.7633587718009949 ]
3.2
96
0
96
0
[ -4.39453125, 157.236328125, 135.791015625, 70.400390625, 3.33984375, 0 ]
[ -4.04296875, 158.642578125, 141.328125, 69.43359375, 3.955078125, 0.7633587718009949 ]
3.233333
97
0
97
0
[ -4.5703125, 155.91796875, 134.033203125, 71.54296875, 3.33984375, 0 ]
[ -3.955078125, 158.02734375, 139.658203125, 69.873046875, 3.955078125, 0.7633587718009949 ]
3.266667
98
0
98
0
[ -4.833984375, 153.80859375, 132.099609375, 73.037109375, 3.33984375, 0 ]
[ -3.955078125, 157.67578125, 138.251953125, 70.576171875, 3.955078125, 0.7633587718009949 ]
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": 1731,
    "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
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
                480,
                640,
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "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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License:
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Size of downloaded dataset files:
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Number of rows:
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