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Datasets:
pengjunkun
/
so100_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
so100
tutorial
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Dask
License:
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action
sequence
observation.state
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timestamp
float32
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14.9
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int64
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448
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2.5
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0
75
0
[ 39.287109375, 84.7265625, 115.13671875, 34.541015625, -103.974609375, 0 ]
[ 40.95703125, 86.30859375, 119.53125, 34.541015625, -105.29296875, 0.2734107971191406 ]
2.533333
76
0
76
0
[ 38.49609375, 84.19921875, 114.345703125, 34.541015625, -103.447265625, 0 ]
[ 40.517578125, 85.25390625, 118.564453125, 34.541015625, -104.58984375, 0.2734107971191406 ]
2.566667
77
0
77
0
[ 37.705078125, 83.583984375, 113.642578125, 34.62890625, -102.919921875, 0 ]
[ 39.990234375, 84.287109375, 117.59765625, 34.453125, -103.798828125, 0.2734107971191406 ]
2.6
78
0
78
0
[ 37.08984375, 83.14453125, 113.02734375, 34.716796875, -102.568359375, 0 ]
[ 39.287109375, 83.935546875, 116.630859375, 34.365234375, -103.447265625, 0.2734107971191406 ]
2.633333
79
0
79
0
[ 36.38671875, 82.529296875, 112.587890625, 34.716796875, -102.48046875, 0 ]
[ 38.408203125, 83.3203125, 115.751953125, 34.27734375, -102.83203125, 0.2734107971191406 ]
2.666667
80
0
80
0
[ 35.859375, 82.001953125, 112.060546875, 34.716796875, -102.3046875, 0 ]
[ 37.44140625, 82.96875, 115.048828125, 34.1015625, -102.568359375, 0.2734107971191406 ]
2.7
81
0
81
0
[ 35.244140625, 81.474609375, 111.4453125, 34.716796875, -102.041015625, 0 ]
[ 36.5625, 82.177734375, 114.345703125, 34.27734375, -102.392578125, 0.2734107971191406 ]
2.733333
82
0
82
0
[ 34.716796875, 81.03515625, 110.91796875, 34.716796875, -101.865234375, 0 ]
[ 35.859375, 81.73828125, 113.994140625, 34.189453125, -102.3046875, 0.2734107971191406 ]
2.766667
83
0
83
0
[ 34.1015625, 80.5078125, 110.390625, 34.716796875, -101.6015625, 0 ]
[ 35.419921875, 81.03515625, 113.291015625, 34.27734375, -102.216796875, 0.2734107971191406 ]
2.8
84
0
84
0
[ 33.57421875, 80.15625, 109.951171875, 34.8046875, -101.337890625, 0 ]
[ 34.98046875, 80.68359375, 112.412109375, 34.27734375, -101.6015625, 0.2734107971191406 ]
2.833333
85
0
85
0
[ 33.046875, 79.716796875, 109.3359375, 35.15625, -101.162109375, 0 ]
[ 34.892578125, 80.15625, 112.060546875, 34.27734375, -101.513671875, 0.2734107971191406 ]
2.866667
86
0
86
0
[ 32.51953125, 79.27734375, 108.984375, 35.15625, -100.8984375, 0 ]
[ 34.27734375, 79.8046875, 111.357421875, 34.27734375, -101.42578125, 0.2734107971191406 ]
2.9
87
0
87
0
[ 32.080078125, 78.662109375, 108.193359375, 35.5078125, -100.546875, 0 ]
[ 33.837890625, 79.013671875, 111.005859375, 34.541015625, -101.25, 0.2734107971191406 ]
2.933333
88
0
88
0
[ 31.552734375, 77.783203125, 106.962890625, 36.123046875, -99.931640625, 0 ]
[ 33.134765625, 78.662109375, 110.390625, 34.716796875, -100.634765625, 0.2734107971191406 ]
2.966667
89
0
89
0
[ 30.9375, 76.640625, 105.380859375, 36.73828125, -99.228515625, 0 ]
[ 32.34375, 77.958984375, 109.951171875, 34.8046875, -100.283203125, 0.2734107971191406 ]
3
90
0
90
0
[ 30.234375, 75.41015625, 103.623046875, 37.6171875, -98.4375, 0 ]
[ 31.552734375, 77.080078125, 108.896484375, 35.244140625, -99.755859375, 0.2734107971191406 ]
3.033333
91
0
91
0
[ 29.443359375, 74.267578125, 101.953125, 38.3203125, -97.55859375, 0 ]
[ 30.9375, 76.11328125, 107.490234375, 35.595703125, -99.404296875, 0.2734107971191406 ]
3.066667
92
0
92
0
[ 28.65234375, 73.212890625, 100.1953125, 38.935546875, -96.591796875, 0 ]
[ 30.498046875, 75.146484375, 105.99609375, 36.38671875, -98.701171875, 0.2734107971191406 ]
3.1
93
0
93
0
[ 27.7734375, 71.982421875, 97.998046875, 40.166015625, -95.537109375, 0 ]
[ 30.05859375, 74.091796875, 104.23828125, 37.08984375, -97.822265625, 0.2734107971191406 ]
3.133333
94
0
94
0
[ 26.982421875, 70.48828125, 95.09765625, 42.1875, -94.306640625, 0 ]
[ 29.1796875, 73.212890625, 102.83203125, 37.353515625, -96.943359375, 0.2734107971191406 ]
3.166667
95
0
95
0
[ 26.103515625, 68.73046875, 91.669921875, 44.384765625, -93.076171875, 0 ]
[ 28.30078125, 71.982421875, 101.25, 38.49609375, -96.064453125, 0.2734107971191406 ]
3.2
96
0
96
0
[ 25.400390625, 66.796875, 87.890625, 46.845703125, -91.845703125, 0 ]
[ 27.509765625, 70.6640625, 98.7890625, 40.166015625, -95.09765625, 0.2734107971191406 ]
3.233333
97
0
97
0
[ 24.609375, 64.951171875, 84.462890625, 48.515625, -90.87890625, 0 ]
[ 26.982421875, 69.2578125, 96.064453125, 41.8359375, -94.130859375, 0.2734107971191406 ]
3.266667
98
0
98
0
[ 23.994140625, 63.369140625, 81.826171875, 49.130859375, -90.17578125, 0 ]
[ 26.103515625, 67.32421875, 92.900390625, 43.681640625, -92.8125, 0.2734107971191406 ]
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": 898,
    "total_tasks": 1,
    "total_videos": 2,
    "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": "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": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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