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Datasets:
wcode
/
so100_test_2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
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Dask
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sequence
observation.state
sequence
timestamp
float32
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14.9
frame_index
int64
0
373
episode_index
int64
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index
int64
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3.74k
task_index
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72
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[ -18.544921875, 80.947265625, 80.947265625, 79.1015625, -10.810546875, 10.327706336975098 ]
[ -15.8203125, 79.62890625, 80.068359375, 78.837890625, -9.4921875, 11.273486137390137 ]
2.92
73
0
73
0
[ -18.984375, 80.595703125, 80.947265625, 79.1015625, -10.810546875, 10.526315689086914 ]
[ -16.69921875, 79.541015625, 80.15625, 78.837890625, -9.84375, 11.273486137390137 ]
2.96
74
0
74
0
[ -19.248046875, 80.419921875, 81.2109375, 79.1015625, -10.810546875, 11.717973709106445 ]
[ -17.2265625, 79.541015625, 80.15625, 78.837890625, -9.931640625, 11.273486137390137 ]
3
75
0
75
0
[ -19.3359375, 80.419921875, 81.9140625, 79.013671875, -10.810546875, 14.399205207824707 ]
[ -17.490234375, 79.453125, 80.244140625, 78.837890625, -9.931640625, 11.273486137390137 ]
3.04
76
0
76
0
[ -19.423828125, 80.33203125, 82.705078125, 78.92578125, -10.810546875, 17.2790470123291 ]
[ -17.841796875, 79.453125, 80.947265625, 78.837890625, -9.755859375, 11.3430757522583 ]
3.08
77
0
77
0
[ -19.423828125, 80.15625, 83.14453125, 78.92578125, -10.810546875, 18.470705032348633 ]
[ -18.193359375, 79.453125, 81.2109375, 78.75, -9.66796875, 12.247737884521484 ]
3.12
78
0
78
0
[ -19.423828125, 79.98046875, 83.408203125, 78.837890625, -10.810546875, 18.96722984313965 ]
[ -18.720703125, 79.453125, 82.001953125, 78.57421875, -9.931640625, 14.405010223388672 ]
3.16
79
0
79
0
[ -19.423828125, 79.62890625, 83.671875, 78.837890625, -10.810546875, 19.563058853149414 ]
[ -18.896484375, 79.365234375, 82.880859375, 78.3984375, -9.931640625, 16.075157165527344 ]
3.2
80
0
80
0
[ -19.3359375, 79.365234375, 83.84765625, 78.837890625, -10.810546875, 21.25124168395996 ]
[ -18.896484375, 78.486328125, 82.96875, 78.3984375, -9.84375, 16.97981834411621 ]
3.24
81
0
81
0
[ -19.16015625, 79.1015625, 84.0234375, 78.57421875, -10.810546875, 21.946374893188477 ]
[ -18.6328125, 78.22265625, 83.232421875, 78.3984375, -9.755859375, 18.02366065979004 ]
3.28
82
0
82
0
[ -18.984375, 78.75, 84.19921875, 78.22265625, -10.810546875, 23.43594741821289 ]
[ -18.544921875, 78.22265625, 83.232421875, 78.3984375, -9.4921875, 19.34585952758789 ]
3.32
83
0
83
0
[ -18.720703125, 78.486328125, 84.462890625, 77.783203125, -10.810546875, 25.024826049804688 ]
[ -18.544921875, 78.22265625, 83.84765625, 78.310546875, -9.931640625, 20.180932998657227 ]
3.36
84
0
84
0
[ -18.544921875, 78.486328125, 84.7265625, 77.255859375, -10.810546875, 27.40814208984375 ]
[ -18.6328125, 77.607421875, 83.935546875, 78.310546875, -9.66796875, 21.433542251586914 ]
3.4
85
0
85
0
[ -18.369140625, 78.3984375, 85.078125, 76.904296875, -10.810546875, 29.096324920654297 ]
[ -18.544921875, 77.16796875, 84.0234375, 77.6953125, -9.931640625, 23.24286651611328 ]
3.44
86
0
86
0
[ -18.10546875, 78.3984375, 85.25390625, 76.46484375, -10.810546875, 30.983118057250977 ]
[ -18.10546875, 77.255859375, 84.287109375, 77.431640625, -9.84375, 25.121782302856445 ]
3.48
87
0
87
0
[ -18.017578125, 78.3984375, 85.60546875, 76.025390625, -10.810546875, 32.37338638305664 ]
[ -17.9296875, 77.255859375, 84.90234375, 76.81640625, -9.84375, 27.07028579711914 ]
3.52
88
0
88
0
[ -17.9296875, 78.3984375, 85.78125, 75.849609375, -10.810546875, 32.770606994628906 ]
[ -17.9296875, 77.16796875, 85.166015625, 76.552734375, -9.580078125, 28.53166389465332 ]
3.56
89
0
89
0
[ -17.9296875, 78.3984375, 85.78125, 75.849609375, -10.810546875, 32.770606994628906 ]
[ -18.193359375, 77.16796875, 85.25390625, 76.2890625, -9.66796875, 29.923452377319336 ]
3.6
90
0
90
0
[ -17.9296875, 78.57421875, 85.78125, 75.849609375, -10.810546875, 32.57199478149414 ]
[ -17.9296875, 77.16796875, 85.25390625, 75.76171875, -9.931640625, 30.828113555908203 ]
3.64
91
0
91
0
[ -17.841796875, 78.837890625, 85.78125, 75.849609375, -10.810546875, 32.57199478149414 ]
[ -17.40234375, 77.16796875, 85.25390625, 75.498046875, -9.931640625, 31.245651245117188 ]
3.68
92
0
92
0
[ -17.75390625, 79.27734375, 85.78125, 75.849609375, -10.810546875, 31.28103256225586 ]
[ -17.05078125, 77.080078125, 85.25390625, 75.498046875, -9.755859375, 31.52400779724121 ]
3.72
93
0
93
0
[ -17.75390625, 79.8046875, 85.78125, 75.849609375, -10.810546875, 28.30188751220703 ]
[ -17.05078125, 77.080078125, 85.25390625, 75.498046875, -9.4921875, 31.593597412109375 ]
3.76
94
0
94
0
[ -17.666015625, 80.419921875, 85.78125, 75.849609375, -10.810546875, 24.826215744018555 ]
[ -17.314453125, 77.080078125, 85.25390625, 75.498046875, -9.931640625, 31.245651245117188 ]
3.8
95
0
95
0
[ -17.490234375, 81.03515625, 85.78125, 75.76171875, -10.810546875, 21.25124168395996 ]
[ -17.490234375, 77.080078125, 85.25390625, 75.498046875, -9.931640625, 29.9930419921875 ]
3.84
96
0
96
0
[ -17.314453125, 81.9140625, 85.78125, 75.76171875, -10.810546875, 16.782522201538086 ]
[ -17.490234375, 77.080078125, 85.25390625, 75.498046875, -9.931640625, 27.418231964111328 ]
3.88
97
0
97
0
[ -16.962890625, 82.96875, 85.78125, 75.76171875, -10.810546875, 11.618669509887695 ]
[ -17.138671875, 77.080078125, 85.25390625, 75.498046875, -9.931640625, 24.356298446655273 ]
3.92
98
0
98
0
[ -16.5234375, 84.19921875, 85.78125, 75.76171875, -10.810546875, 6.752730846405029 ]
[ -16.875, 77.16796875, 85.25390625, 75.498046875, -9.931640625, 20.876827239990234 ]
3.96
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": 10,
    "total_frames": 3740,
    "total_tasks": 1,
    "total_videos": 20,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 25,
    "splits": {
        "train": "0:10"
    },
    "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.hand": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
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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",
                "video.is_depth_map": false,
                "has_audio": false
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        },
        "observation.images.top": {
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            "shape": [
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                640,
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            "names": [
                "height",
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                "channels"
            ],
            "info": {
                "video.fps": 25.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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                1
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            "names": null
        },
        "episode_index": {
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            ],
            "names": null
        },
        "index": {
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                1
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        },
        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Number of rows:
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