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Datasets:
samsam0510
/
tape_insert_1

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
Dask
License:
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action
sequence
observation.state
sequence
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
[ 3.33984375, 52.20703125, 43.59375, 85.25390625, -9.404296875, 25.85365867614746 ]
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72
0
[ -1.669921875, 26.71875, 3.603515625, 103.623046875, -1.40625, 25.691057205200195 ]
[ -0.87890625, 23.90625, 6.591796875, 102.65625, -2.021484375, 24.947145462036133 ]
2.433333
73
0
73
0
[ -1.669921875, 26.3671875, 3.427734375, 103.623046875, -1.40625, 25.691057205200195 ]
[ -0.966796875, 23.90625, 6.591796875, 102.65625, -2.021484375, 24.947145462036133 ]
2.466667
74
0
74
0
[ -1.58203125, 26.015625, 3.076171875, 103.623046875, -1.40625, 25.691057205200195 ]
[ -1.0546875, 23.90625, 6.591796875, 102.65625, -2.021484375, 24.947145462036133 ]
2.5
75
0
75
0
[ -1.494140625, 25.48828125, 2.548828125, 103.623046875, -1.40625, 25.691057205200195 ]
[ -1.0546875, 23.90625, 6.591796875, 102.65625, -2.021484375, 24.947145462036133 ]
2.533333
76
0
76
0
[ -1.40625, 25.048828125, 2.197265625, 103.623046875, -1.40625, 25.691057205200195 ]
[ -1.0546875, 23.90625, 6.591796875, 102.65625, -2.021484375, 24.947145462036133 ]
2.566667
77
0
77
0
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[ -1.0546875, 23.642578125, 6.328125, 102.65625, -2.021484375, 24.947145462036133 ]
2.6
78
0
78
0
[ -1.318359375, 24.169921875, 1.669921875, 103.623046875, -1.40625, 25.691057205200195 ]
[ -0.966796875, 23.291015625, 5.80078125, 102.65625, -2.021484375, 24.947145462036133 ]
2.633333
79
0
79
0
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[ -0.87890625, 22.763671875, 5.09765625, 102.65625, -2.021484375, 24.947145462036133 ]
2.666667
80
0
80
0
[ -1.318359375, 23.466796875, 0.87890625, 103.623046875, -1.318359375, 25.691057205200195 ]
[ -0.87890625, 22.5, 4.482421875, 102.65625, -2.021484375, 24.947145462036133 ]
2.7
81
0
81
0
[ -1.23046875, 23.466796875, 0.703125, 103.623046875, -1.318359375, 25.691057205200195 ]
[ -0.87890625, 22.060546875, 4.04296875, 102.65625, -2.021484375, 24.947145462036133 ]
2.733333
82
0
82
0
[ -0.966796875, 23.291015625, 0.3515625, 103.623046875, -1.318359375, 25.691057205200195 ]
[ -0.87890625, 21.62109375, 3.33984375, 102.65625, -2.021484375, 24.947145462036133 ]
2.766667
83
0
83
0
[ -0.703125, 23.115234375, 0.263671875, 103.623046875, -1.318359375, 25.691057205200195 ]
[ -0.87890625, 21.4453125, 2.98828125, 102.65625, -2.021484375, 24.947145462036133 ]
2.8
84
0
84
0
[ -0.52734375, 22.8515625, 0.17578125, 103.623046875, -1.318359375, 25.691057205200195 ]
[ -0.87890625, 21.26953125, 2.724609375, 102.65625, -2.021484375, 24.947145462036133 ]
2.833333
85
0
85
0
[ -0.439453125, 22.587890625, 0.17578125, 103.623046875, -1.318359375, 25.691057205200195 ]
[ -0.791015625, 21.26953125, 2.63671875, 102.65625, -2.021484375, 24.947145462036133 ]
2.866667
86
0
86
0
[ -0.3515625, 22.412109375, 0.52734375, 103.623046875, -1.0546875, 25.691057205200195 ]
[ -0.703125, 21.005859375, 2.548828125, 102.65625, -2.021484375, 24.947145462036133 ]
2.9
87
0
87
0
[ -0.3515625, 22.32421875, 0.615234375, 103.623046875, -0.703125, 25.691057205200195 ]
[ -0.703125, 20.830078125, 2.373046875, 102.65625, -2.021484375, 25.01761817932129 ]
2.933333
88
0
88
0
[ -0.615234375, 22.1484375, 0.703125, 103.623046875, -0.439453125, 25.691057205200195 ]
[ -0.703125, 20.830078125, 2.197265625, 102.65625, -2.021484375, 25.01761817932129 ]
2.966667
89
0
89
0
[ -0.87890625, 22.1484375, 0.703125, 103.623046875, -0.263671875, 25.691057205200195 ]
[ -0.703125, 20.830078125, 2.109375, 102.65625, -1.669921875, 25.01761817932129 ]
3
90
0
90
0
[ -1.142578125, 22.1484375, 0.703125, 103.623046875, -0.17578125, 25.28455352783203 ]
[ -0.703125, 20.830078125, 2.109375, 102.65625, -1.40625, 25.01761817932129 ]
3.033333
91
0
91
0
[ -1.318359375, 22.1484375, 0.791015625, 103.623046875, -0.087890625, 24.065040588378906 ]
[ -0.703125, 20.830078125, 2.109375, 102.65625, -1.23046875, 25.01761817932129 ]
3.066667
92
0
92
0
[ -1.40625, 22.236328125, 0.87890625, 103.623046875, 0, 20.975608825683594 ]
[ -0.791015625, 20.830078125, 2.109375, 102.65625, -1.142578125, 25.01761817932129 ]
3.1
93
0
93
0
[ -1.40625, 22.236328125, 1.0546875, 103.623046875, 0.17578125, 18.61788558959961 ]
[ -0.87890625, 20.830078125, 2.109375, 102.65625, -1.142578125, 24.806201934814453 ]
3.133333
94
0
94
0
[ -1.40625, 22.236328125, 1.0546875, 103.623046875, 0.3515625, 17.317073822021484 ]
[ -0.87890625, 20.830078125, 2.109375, 102.568359375, -1.142578125, 23.890064239501953 ]
3.166667
95
0
95
0
[ -1.23046875, 22.236328125, 1.0546875, 103.623046875, 0.52734375, 17.15447235107422 ]
[ -0.87890625, 20.830078125, 2.021484375, 102.568359375, -1.142578125, 22.198732376098633 ]
3.2
96
0
96
0
[ -1.0546875, 22.236328125, 1.142578125, 103.623046875, 0.703125, 17.15447235107422 ]
[ -0.87890625, 20.830078125, 2.021484375, 102.568359375, -1.142578125, 20.577871322631836 ]
3.233333
97
0
97
0
[ -0.966796875, 22.236328125, 1.23046875, 103.623046875, 0.87890625, 17.15447235107422 ]
[ -0.87890625, 20.830078125, 2.021484375, 102.568359375, -1.142578125, 19.379844665527344 ]
3.266667
98
0
98
0
[ -0.791015625, 22.236328125, 1.318359375, 103.623046875, 1.0546875, 16.829267501831055 ]
[ -0.87890625, 20.830078125, 2.021484375, 102.568359375, -1.142578125, 18.67512321472168 ]
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": 100,
    "total_frames": 33360,
    "total_tasks": 1,
    "total_videos": 200,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:100"
    },
    "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": [
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            "info": {
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                "video.height": 480,
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                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
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                "has_audio": false
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        },
        "observation.images.phone": {
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            "shape": [
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                640,
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            "names": [
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                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
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                "video.channels": 3,
                "video.codec": "h264",
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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": {
            "dtype": "int64",
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                1
            ],
            "names": null
        },
        "episode_index": {
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            ],
            "names": null
        },
        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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Downloads last month
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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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