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Datasets:
mathieutk
/
so100_gob1

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
so100
tutorial
Libraries:
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pandas
License:
Dataset card Data Studio Files Community
1
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action
sequence
observation.state
sequence
timestamp
float32
0
12.3
frame_index
int64
0
370
episode_index
int64
0
0
index
int64
0
370
task_index
int64
0
0
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[ 0.966796875, 46.58203125, 13.53515625, 95.537109375, 49.74609375, 68.92138671875 ]
[ 2.900390625, 46.318359375, 18.544921875, 95.361328125, 51.240234375, 69.12698364257812 ]
2.5
75
0
75
0
[ 0.439453125, 45.966796875, 12.392578125, 95.537109375, 49.5703125, 68.92138671875 ]
[ 2.4609375, 46.318359375, 17.490234375, 95.361328125, 51.064453125, 69.12698364257812 ]
2.533333
76
0
76
0
[ 0, 45.17578125, 11.07421875, 95.537109375, 49.5703125, 68.92138671875 ]
[ 1.93359375, 46.318359375, 16.611328125, 95.361328125, 50.537109375, 69.12698364257812 ]
2.566667
77
0
77
0
[ -0.3515625, 44.296875, 9.931640625, 95.537109375, 49.5703125, 68.92138671875 ]
[ 1.40625, 45.703125, 15.380859375, 95.361328125, 50.185546875, 69.12698364257812 ]
2.6
78
0
78
0
[ -0.52734375, 43.330078125, 8.525390625, 95.537109375, 49.833984375, 68.92138671875 ]
[ 0.791015625, 44.736328125, 14.23828125, 95.361328125, 50.185546875, 69.12698364257812 ]
2.633333
79
0
79
0
[ -0.52734375, 42.1875, 7.294921875, 95.44921875, 50.009765625, 68.92138671875 ]
[ 0.263671875, 43.76953125, 13.095703125, 95.361328125, 50.185546875, 69.12698364257812 ]
2.666667
80
0
80
0
[ -0.615234375, 40.95703125, 6.064453125, 95.2734375, 50.009765625, 68.92138671875 ]
[ -0.087890625, 42.890625, 12.041015625, 95.361328125, 50.185546875, 69.12698364257812 ]
2.7
81
0
81
0
[ -0.615234375, 39.375, 4.21875, 95.2734375, 50.09765625, 68.92138671875 ]
[ -0.263671875, 41.748046875, 10.72265625, 95.361328125, 50.185546875, 69.12698364257812 ]
2.733333
82
0
82
0
[ -0.615234375, 38.3203125, 3.1640625, 95.2734375, 50.09765625, 68.92138671875 ]
[ -0.439453125, 40.60546875, 9.404296875, 95.361328125, 50.185546875, 69.12698364257812 ]
2.766667
83
0
83
0
[ -0.52734375, 37.705078125, 2.900390625, 95.009765625, 50.09765625, 68.92138671875 ]
[ -0.439453125, 39.111328125, 7.822265625, 95.361328125, 50.185546875, 69.12698364257812 ]
2.8
84
0
84
0
[ -0.3515625, 37.177734375, 2.900390625, 94.39453125, 50.185546875, 68.92138671875 ]
[ -0.3515625, 37.96875, 6.767578125, 95.361328125, 50.185546875, 69.12698364257812 ]
2.833333
85
0
85
0
[ -0.263671875, 36.650390625, 2.8125, 94.04296875, 50.185546875, 68.92138671875 ]
[ -0.17578125, 37.265625, 6.15234375, 95.2734375, 50.185546875, 69.12698364257812 ]
2.866667
86
0
86
0
[ -0.087890625, 36.03515625, 2.8125, 93.8671875, 50.185546875, 68.92138671875 ]
[ 0, 36.650390625, 5.712890625, 95.009765625, 50.185546875, 69.12698364257812 ]
2.9
87
0
87
0
[ 0.17578125, 35.244140625, 2.8125, 93.69140625, 50.2734375, 68.92138671875 ]
[ 0.087890625, 35.68359375, 5.2734375, 94.658203125, 50.185546875, 69.12698364257812 ]
2.933333
88
0
88
0
[ 0.17578125, 34.892578125, 2.8125, 93.515625, 50.361328125, 68.92138671875 ]
[ 0.087890625, 35.5078125, 5.2734375, 94.5703125, 50.185546875, 69.12698364257812 ]
2.966667
89
0
89
0
[ 0.263671875, 34.27734375, 2.8125, 92.98828125, 50.361328125, 68.92138671875 ]
[ 0.087890625, 34.892578125, 5.2734375, 94.39453125, 50.185546875, 69.12698364257812 ]
3
90
0
90
0
[ 0.3515625, 33.837890625, 2.8125, 92.63671875, 50.361328125, 68.92138671875 ]
[ 0.087890625, 34.189453125, 5.185546875, 94.130859375, 50.185546875, 69.12698364257812 ]
3.033333
91
0
91
0
[ 0.3515625, 33.486328125, 2.724609375, 92.28515625, 50.361328125, 68.92138671875 ]
[ 0, 33.57421875, 5.185546875, 93.779296875, 50.185546875, 69.12698364257812 ]
3.066667
92
0
92
0
[ 0.3515625, 33.22265625, 2.724609375, 92.021484375, 50.361328125, 68.92138671875 ]
[ 0, 33.046875, 5.185546875, 93.427734375, 50.185546875, 69.12698364257812 ]
3.1
93
0
93
0
[ 0.17578125, 32.87109375, 2.724609375, 91.845703125, 50.361328125, 68.92138671875 ]
[ 0.087890625, 32.6953125, 5.185546875, 93.1640625, 50.185546875, 69.12698364257812 ]
3.133333
94
0
94
0
[ 0, 32.607421875, 2.724609375, 91.7578125, 50.361328125, 68.64716339111328 ]
[ 0.17578125, 32.51953125, 5.185546875, 92.900390625, 50.185546875, 69.12698364257812 ]
3.166667
95
0
95
0
[ -0.087890625, 32.34375, 2.724609375, 91.58203125, 50.361328125, 67.00182342529297 ]
[ 0.17578125, 32.255859375, 5.185546875, 92.63671875, 50.185546875, 69.12698364257812 ]
3.2
96
0
96
0
[ -0.17578125, 32.16796875, 2.724609375, 91.318359375, 50.361328125, 63.71115493774414 ]
[ 0.17578125, 31.904296875, 5.185546875, 92.4609375, 50.185546875, 68.8888931274414 ]
3.233333
97
0
97
0
[ -0.17578125, 32.080078125, 2.724609375, 90.87890625, 50.361328125, 61.7001838684082 ]
[ 0.17578125, 31.640625, 5.185546875, 92.28515625, 50.185546875, 68.01587677001953 ]
3.266667
98
0
98
0
[ -0.263671875, 31.9921875, 2.724609375, 90.439453125, 50.361328125, 60.786102294921875 ]
[ 0.17578125, 31.46484375, 5.185546875, 92.021484375, 50.185546875, 66.19047546386719 ]
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": 1,
    "total_frames": 371,
    "total_tasks": 1,
    "total_videos": 2,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "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.head": {
            "dtype": "video",
            "shape": [
                600,
                800,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "info": {
                "video.height": 600,
                "video.width": 800,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.top": {
            "dtype": "video",
            "shape": [
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                640,
                3
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            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "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": {
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            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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