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Datasets:
zijian2022
/
closer3

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
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action
sequence
observation.state
sequence
timestamp
float32
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9.93
frame_index
int64
0
298
episode_index
int64
0
9
index
int64
0
2.98k
task_index
int64
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2.2
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2.3
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2.4
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[ 3.603515625, 196.34765625, 180.615234375, 78.486328125, 0.439453125, 3.027027130126953 ]
2.5
75
0
75
0
[ 4.74609375, 198.28125, 181.0546875, 81.9140625, -0.439453125, 0.10649627447128296 ]
[ 3.603515625, 196.34765625, 180.615234375, 78.486328125, 0.439453125, 3.027027130126953 ]
2.533333
76
0
76
0
[ 4.921875, 198.28125, 181.0546875, 81.9140625, -0.439453125, 0.10649627447128296 ]
[ 3.603515625, 196.34765625, 180.615234375, 78.486328125, 0.439453125, 3.027027130126953 ]
2.566667
77
0
77
0
[ 4.921875, 198.28125, 181.0546875, 81.9140625, -0.439453125, 0.10649627447128296 ]
[ 3.603515625, 196.34765625, 180.615234375, 78.486328125, 0.439453125, 3.027027130126953 ]
2.6
78
0
78
0
[ 4.74609375, 198.28125, 181.0546875, 81.9140625, -0.439453125, 0.10649627447128296 ]
[ 3.603515625, 196.34765625, 180.615234375, 78.486328125, 0.439453125, 3.027027130126953 ]
2.633333
79
0
79
0
[ 4.74609375, 198.28125, 181.0546875, 81.9140625, -0.17578125, 0.10649627447128296 ]
[ 3.603515625, 196.34765625, 180.615234375, 78.486328125, 0.439453125, 3.027027130126953 ]
2.666667
80
0
80
0
[ 5.009765625, 198.28125, 181.0546875, 81.9140625, 0.52734375, 0.10649627447128296 ]
[ 3.603515625, 196.34765625, 180.615234375, 78.486328125, 0.439453125, 3.027027130126953 ]
2.7
81
0
81
0
[ 5.185546875, 198.28125, 181.0546875, 81.9140625, -0.615234375, -0.10649627447128296 ]
[ 3.603515625, 196.34765625, 180.615234375, 78.486328125, 0.439453125, 3.027027130126953 ]
2.733333
82
0
82
0
[ 5.537109375, 198.193359375, 181.0546875, 81.9140625, -1.318359375, -0.10649627447128296 ]
[ 4.130859375, 196.34765625, 180.615234375, 78.486328125, 0.439453125, 3.027027130126953 ]
2.766667
83
0
83
0
[ 5.625, 198.193359375, 181.0546875, 81.9140625, -1.669921875, -0.10649627447128296 ]
[ 4.482421875, 196.34765625, 180.615234375, 78.486328125, 0.439453125, 3.027027130126953 ]
2.8
84
0
84
0
[ 5.361328125, 198.193359375, 181.0546875, 81.9140625, -2.021484375, -0.10649627447128296 ]
[ 4.482421875, 196.34765625, 180.615234375, 78.486328125, -0.087890625, 3.027027130126953 ]
2.833333
85
0
85
0
[ 5.44921875, 198.193359375, 181.0546875, 81.9140625, -1.669921875, -0.10649627447128296 ]
[ 4.5703125, 196.34765625, 180.615234375, 78.486328125, -0.439453125, 3.027027130126953 ]
2.866667
86
0
86
0
[ 5.80078125, 198.193359375, 181.0546875, 81.9140625, -1.40625, -0.10649627447128296 ]
[ 4.5703125, 196.34765625, 180.615234375, 78.486328125, -1.0546875, 3.027027130126953 ]
2.9
87
0
87
0
[ 6.240234375, 197.666015625, 181.0546875, 81.9140625, -1.142578125, -0.10649627447128296 ]
[ 4.5703125, 196.34765625, 180.615234375, 78.486328125, -0.87890625, 3.027027130126953 ]
2.933333
88
0
88
0
[ 6.591796875, 196.69921875, 181.0546875, 81.9140625, -1.0546875, -0.10649627447128296 ]
[ 4.658203125, 196.34765625, 180.615234375, 78.486328125, -0.87890625, 3.027027130126953 ]
2.966667
89
0
89
0
[ 6.85546875, 195.46875, 181.0546875, 81.9140625, -1.0546875, -0.10649627447128296 ]
[ 5.185546875, 196.171875, 180.615234375, 78.486328125, -0.87890625, 3.027027130126953 ]
3
90
0
90
0
[ 6.85546875, 194.0625, 179.736328125, 81.9140625, -1.0546875, -0.10649627447128296 ]
[ 5.625, 195.908203125, 180.615234375, 78.486328125, -0.87890625, 3.027027130126953 ]
3.033333
91
0
91
0
[ 6.943359375, 192.65625, 178.330078125, 81.9140625, -1.0546875, -0.10649627447128296 ]
[ 5.712890625, 195.380859375, 180.52734375, 78.486328125, -0.87890625, 3.027027130126953 ]
3.066667
92
0
92
0
[ 6.943359375, 191.07421875, 176.923828125, 81.9140625, -1.0546875, -0.10649627447128296 ]
[ 5.712890625, 194.677734375, 180.439453125, 78.486328125, -0.87890625, 3.027027130126953 ]
3.1
93
0
93
0
[ 6.943359375, 189.4921875, 175.517578125, 81.9140625, -1.0546875, -0.10649627447128296 ]
[ 5.712890625, 193.974609375, 179.296875, 78.486328125, -0.87890625, 3.027027130126953 ]
3.133333
94
0
94
0
[ 6.85546875, 187.734375, 174.111328125, 81.9140625, -1.0546875, -0.10649627447128296 ]
[ 5.712890625, 192.65625, 178.2421875, 78.486328125, -0.87890625, 3.027027130126953 ]
3.166667
95
0
95
0
[ 6.767578125, 186.15234375, 172.705078125, 81.9140625, -1.142578125, -0.10649627447128296 ]
[ 5.80078125, 191.162109375, 177.626953125, 78.486328125, -0.791015625, 3.027027130126953 ]
3.2
96
0
96
0
[ 6.767578125, 184.74609375, 171.2109375, 81.9140625, -1.142578125, -0.10649627447128296 ]
[ 5.80078125, 189.755859375, 177.1875, 78.486328125, -0.703125, 3.027027130126953 ]
3.233333
97
0
97
0
[ 6.6796875, 183.1640625, 169.716796875, 81.9140625, -1.318359375, -0.10649627447128296 ]
[ 5.80078125, 188.525390625, 176.396484375, 78.486328125, -0.703125, 3.027027130126953 ]
3.266667
98
0
98
0
[ 6.591796875, 181.318359375, 168.046875, 81.9140625, -1.845703125, 0.10649627447128296 ]
[ 5.712890625, 187.119140625, 175.166015625, 78.486328125, -0.703125, 3.027027130126953 ]
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": 10,
    "total_frames": 2981,
    "total_tasks": 1,
    "total_videos": 20,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "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": [
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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": [
                "height",
                "width",
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            "info": {
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                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
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        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
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                640,
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "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",
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                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Size of downloaded dataset files:
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