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Datasets:
shivakanthsujit
/
stack_blocks

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
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action
sequence
observation.state
sequence
timestamp
float32
0
46.5
frame_index
int64
0
1.4k
episode_index
int64
0
49
index
int64
0
40.5k
task_index
int64
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[ 1.494140625, 170.244140625, 161.54296875, 81.73828125, -85.166015625, 16.56703758239746 ]
[ 2.021484375, 188.7890625, 177.275390625, 78.3984375, -86.30859375, 15.488936424255371 ]
2.433333
73
0
73
0
[ 1.318359375, 166.9921875, 158.73046875, 81.9140625, -84.55078125, 16.396242141723633 ]
[ 1.93359375, 186.591796875, 175.341796875, 79.1015625, -86.220703125, 15.703069686889648 ]
2.466667
74
0
74
0
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[ 1.669921875, 183.427734375, 172.96875, 79.27734375, -86.044921875, 15.774446487426758 ]
2.5
75
0
75
0
[ 1.669921875, 163.828125, 154.423828125, 83.14453125, -83.84765625, 16.054655075073242 ]
[ 1.318359375, 180.263671875, 170.419921875, 79.541015625, -85.693359375, 15.845824241638184 ]
2.533333
76
0
76
0
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[ 1.23046875, 177.01171875, 168.046875, 80.419921875, -85.25390625, 15.845824241638184 ]
2.566667
77
0
77
0
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[ 1.318359375, 174.19921875, 165.5859375, 81.650390625, -84.90234375, 15.845824241638184 ]
2.6
78
0
78
0
[ 3.69140625, 163.388671875, 149.677734375, 86.572265625, -85.60546875, 16.054655075073242 ]
[ 1.40625, 171.9140625, 163.30078125, 82.265625, -84.814453125, 15.91720199584961 ]
2.633333
79
0
79
0
[ 4.658203125, 162.7734375, 148.0078125, 87.978515625, -86.66015625, 16.054655075073242 ]
[ 1.58203125, 170.15625, 161.3671875, 82.96875, -84.814453125, 15.91720199584961 ]
2.666667
80
0
80
0
[ 5.712890625, 161.806640625, 146.25, 88.76953125, -87.36328125, 16.140050888061523 ]
[ 1.845703125, 168.75, 159.43359375, 83.84765625, -84.90234375, 15.91720199584961 ]
2.7
81
0
81
0
[ 6.767578125, 160.224609375, 144.66796875, 89.208984375, -87.890625, 16.140050888061523 ]
[ 2.548828125, 167.51953125, 157.587890625, 84.814453125, -85.25390625, 15.91720199584961 ]
2.733333
82
0
82
0
[ 7.822265625, 158.291015625, 142.998046875, 89.384765625, -88.505859375, 16.225448608398438 ]
[ 3.427734375, 166.2890625, 155.7421875, 85.78125, -85.693359375, 15.91720199584961 ]
2.766667
83
0
83
0
[ 9.052734375, 156.533203125, 141.416015625, 89.384765625, -89.033203125, 16.31084632873535 ]
[ 4.21875, 164.970703125, 153.80859375, 86.572265625, -85.78125, 15.91720199584961 ]
2.8
84
0
84
0
[ 10.458984375, 154.951171875, 139.921875, 89.296875, -89.736328125, 16.31084632873535 ]
[ 4.833984375, 163.564453125, 152.138671875, 87.1875, -86.30859375, 15.91720199584961 ]
2.833333
85
0
85
0
[ 11.77734375, 153.720703125, 138.69140625, 88.76953125, -90.439453125, 16.31084632873535 ]
[ 5.712890625, 161.89453125, 150.380859375, 87.626953125, -86.8359375, 15.91720199584961 ]
2.866667
86
0
86
0
[ 13.0078125, 152.490234375, 137.8125, 87.802734375, -91.0546875, 16.31084632873535 ]
[ 6.85546875, 160.400390625, 148.7109375, 88.06640625, -87.451171875, 15.91720199584961 ]
2.9
87
0
87
0
[ 14.501953125, 151.171875, 137.109375, 86.748046875, -91.845703125, 16.31084632873535 ]
[ 7.91015625, 158.90625, 147.041015625, 88.154296875, -88.06640625, 15.91720199584961 ]
2.933333
88
0
88
0
[ 16.171875, 149.765625, 136.494140625, 85.869140625, -93.1640625, 16.31084632873535 ]
[ 9.140625, 157.412109375, 145.634765625, 88.154296875, -88.76953125, 15.91720199584961 ]
2.966667
89
0
89
0
[ 18.10546875, 148.623046875, 136.142578125, 84.90234375, -94.482421875, 16.31084632873535 ]
[ 10.458984375, 156.005859375, 144.404296875, 87.978515625, -89.47265625, 15.91720199584961 ]
3
90
0
90
0
[ 20.21484375, 147.568359375, 135.966796875, 84.19921875, -96.328125, 16.31084632873535 ]
[ 11.689453125, 154.599609375, 143.26171875, 87.451171875, -90.3515625, 15.91720199584961 ]
3.033333
91
0
91
0
[ 22.763671875, 147.041015625, 135.87890625, 83.671875, -98.61328125, 16.31084632873535 ]
[ 13.095703125, 153.193359375, 142.3828125, 86.923828125, -91.318359375, 15.91720199584961 ]
3.066667
92
0
92
0
[ 25.224609375, 146.77734375, 136.0546875, 83.14453125, -101.25, 16.396242141723633 ]
[ 14.677734375, 151.435546875, 141.6796875, 86.396484375, -92.4609375, 15.91720199584961 ]
3.1
93
0
93
0
[ 27.59765625, 146.162109375, 136.142578125, 82.177734375, -103.271484375, 16.396242141723633 ]
[ 16.5234375, 150.029296875, 141.064453125, 85.693359375, -93.8671875, 15.91720199584961 ]
3.133333
94
0
94
0
[ 29.970703125, 145.107421875, 136.142578125, 81.298828125, -105.1171875, 16.31084632873535 ]
[ 18.45703125, 149.0625, 140.625, 85.166015625, -95.44921875, 15.91720199584961 ]
3.166667
95
0
95
0
[ 32.783203125, 143.876953125, 136.142578125, 80.244140625, -107.40234375, 16.31084632873535 ]
[ 20.390625, 148.271484375, 140.537109375, 84.55078125, -97.119140625, 15.91720199584961 ]
3.2
96
0
96
0
[ 35.68359375, 142.646484375, 136.142578125, 79.189453125, -110.0390625, 16.31084632873535 ]
[ 22.5, 147.48046875, 140.2734375, 83.759765625, -98.96484375, 15.91720199584961 ]
3.233333
97
0
97
0
[ 38.3203125, 141.50390625, 136.142578125, 78.046875, -112.1484375, 16.31084632873535 ]
[ 24.609375, 146.689453125, 140.185546875, 83.056640625, -100.810546875, 15.91720199584961 ]
3.266667
98
0
98
0
[ 40.693359375, 140.361328125, 136.0546875, 76.904296875, -113.994140625, 16.396242141723633 ]
[ 27.0703125, 145.634765625, 140.09765625, 82.08984375, -102.83203125, 15.91720199584961 ]
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": 21,
    "total_frames": 18282,
    "total_tasks": 1,
    "total_videos": 21,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:21"
    },
    "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": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.webcam": {
            "dtype": "video",
            "shape": [
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                640,
                3
            ],
            "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",
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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