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Datasets:
zijian2022
/
insert_1

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
Libraries:
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Dask
License:
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action
sequence
observation.state
sequence
timestamp
float32
0
19.9
frame_index
int64
0
596
episode_index
int64
0
4
index
int64
0
2.76k
task_index
int64
0
0
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73
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[ 7.294921875, 126.9140625, 117.24609375, 81.123046875, -80.595703125, 0.6256517171859741 ]
[ 5.361328125, 130.78125, 121.640625, 80.68359375, -79.013671875, 0.31923383474349976 ]
2.466667
74
0
74
0
[ 7.998046875, 125.33203125, 116.103515625, 81.123046875, -80.947265625, 0.7299270033836365 ]
[ 5.80078125, 129.287109375, 120.41015625, 80.771484375, -79.453125, 0.31923383474349976 ]
2.5
75
0
75
0
[ 8.61328125, 123.837890625, 115.3125, 81.123046875, -81.474609375, 0.9384775757789612 ]
[ 6.328125, 127.880859375, 119.35546875, 80.771484375, -79.453125, 0.31923383474349976 ]
2.533333
76
0
76
0
[ 9.228515625, 122.51953125, 114.2578125, 81.123046875, -82.265625, 1.6684045791625977 ]
[ 6.767578125, 126.298828125, 118.212890625, 80.771484375, -79.892578125, 0.31923383474349976 ]
2.566667
77
0
77
0
[ 9.66796875, 121.201171875, 113.466796875, 81.123046875, -83.056640625, 6.047966480255127 ]
[ 7.55859375, 124.716796875, 117.24609375, 80.771484375, -80.771484375, 0.31923383474349976 ]
2.6
78
0
78
0
[ 9.931640625, 119.70703125, 112.67578125, 81.123046875, -83.49609375, 6.047966480255127 ]
[ 8.173828125, 123.22265625, 116.103515625, 80.771484375, -81.5625, 0.47885075211524963 ]
2.633333
79
0
79
0
[ 10.1953125, 118.564453125, 112.060546875, 81.123046875, -83.84765625, 6.047966480255127 ]
[ 8.525390625, 122.080078125, 115.13671875, 80.771484375, -82.08984375, 1.5163607597351074 ]
2.666667
80
0
80
0
[ 10.546875, 117.509765625, 111.533203125, 81.123046875, -84.375, 6.673618316650391 ]
[ 8.7890625, 120.5859375, 114.345703125, 80.771484375, -82.353515625, 3.3519554138183594 ]
2.7
81
0
81
0
[ 10.8984375, 116.630859375, 111.181640625, 81.123046875, -84.638671875, 11.261731147766113 ]
[ 9.228515625, 119.091796875, 113.73046875, 80.771484375, -82.880859375, 4.469273567199707 ]
2.733333
82
0
82
0
[ 11.25, 115.576171875, 110.7421875, 81.123046875, -84.90234375, 11.261731147766113 ]
[ 9.31640625, 117.861328125, 113.203125, 80.68359375, -83.3203125, 5.027933120727539 ]
2.766667
83
0
83
0
[ 11.689453125, 114.873046875, 110.478515625, 81.123046875, -85.25390625, 13.764337539672852 ]
[ 9.84375, 116.806640625, 112.763671875, 80.771484375, -83.49609375, 6.06544303894043 ]
2.8
84
0
84
0
[ 11.865234375, 113.994140625, 110.302734375, 81.123046875, -85.25390625, 18.66527557373047 ]
[ 10.37109375, 115.751953125, 112.1484375, 80.771484375, -83.935546875, 8.060654640197754 ]
2.833333
85
0
85
0
[ 12.041015625, 113.291015625, 110.126953125, 81.123046875, -85.4296875, 18.66527557373047 ]
[ 10.546875, 114.78515625, 111.884765625, 80.68359375, -84.375, 10.055866241455078 ]
2.866667
86
0
86
0
[ 12.12890625, 112.587890625, 110.0390625, 81.123046875, -85.78125, 18.66527557373047 ]
[ 10.72265625, 113.73046875, 111.796875, 80.771484375, -84.462890625, 12.689544677734375 ]
2.9
87
0
87
0
[ 12.216796875, 111.884765625, 110.0390625, 81.123046875, -86.220703125, 18.66527557373047 ]
[ 11.162109375, 113.115234375, 111.708984375, 80.771484375, -84.462890625, 15.003990173339844 ]
2.933333
88
0
88
0
[ 12.3046875, 111.357421875, 109.951171875, 81.123046875, -86.396484375, 22.314910888671875 ]
[ 11.42578125, 112.412109375, 111.708984375, 80.771484375, -84.990234375, 16.121309280395508 ]
2.966667
89
0
89
0
[ 12.216796875, 110.830078125, 109.951171875, 81.123046875, -86.044921875, 31.38686180114746 ]
[ 11.6015625, 111.4453125, 111.4453125, 80.771484375, -85.4296875, 16.679967880249023 ]
3
90
0
90
0
[ 12.216796875, 110.478515625, 109.951171875, 81.123046875, -85.869140625, 34.41084289550781 ]
[ 11.6015625, 111.09375, 110.91796875, 80.68359375, -85.517578125, 17.717477798461914 ]
3.033333
91
0
91
0
[ 12.3046875, 110.21484375, 109.951171875, 81.123046875, -85.869140625, 37.8519287109375 ]
[ 11.6015625, 110.390625, 110.830078125, 80.68359375, -85.25390625, 20.351158142089844 ]
3.066667
92
0
92
0
[ 12.3046875, 109.775390625, 109.951171875, 81.123046875, -85.95703125, 38.2690315246582 ]
[ 11.6015625, 110.126953125, 110.7421875, 80.771484375, -85.166015625, 24.421388626098633 ]
3.1
93
0
93
0
[ 12.392578125, 109.423828125, 109.951171875, 81.123046875, -86.220703125, 38.2690315246582 ]
[ 11.689453125, 109.951171875, 110.654296875, 80.771484375, -85.166015625, 28.810853958129883 ]
3.133333
94
0
94
0
[ 12.392578125, 109.072265625, 109.951171875, 81.123046875, -86.66015625, 38.2690315246582 ]
[ 11.689453125, 109.3359375, 110.654296875, 80.771484375, -85.4296875, 32.4022331237793 ]
3.166667
95
0
95
0
[ 12.392578125, 108.720703125, 109.951171875, 81.123046875, -87.099609375, 38.2690315246582 ]
[ 11.689453125, 109.16015625, 110.654296875, 80.771484375, -85.693359375, 34.716678619384766 ]
3.2
96
0
96
0
[ 12.3046875, 108.369140625, 109.951171875, 81.03515625, -87.626953125, 38.2690315246582 ]
[ 11.689453125, 108.896484375, 110.654296875, 80.771484375, -85.95703125, 35.83399963378906 ]
3.233333
97
0
97
0
[ 12.216796875, 107.841796875, 109.951171875, 81.03515625, -88.2421875, 38.2690315246582 ]
[ 11.689453125, 108.28125, 110.654296875, 80.771484375, -86.396484375, 36.47246551513672 ]
3.266667
98
0
98
0
[ 12.12890625, 107.314453125, 109.951171875, 81.03515625, -88.681640625, 38.2690315246582 ]
[ 11.689453125, 107.9296875, 110.654296875, 80.771484375, -86.8359375, 36.951316833496094 ]
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": 5,
    "total_frames": 2760,
    "total_tasks": 1,
    "total_videos": 10,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:5"
    },
    "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": {
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            "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": [
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                3
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            "names": [
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            "info": {
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        "observation.images.phone": {
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            "names": [
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            "info": {
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                "video.codec": "h264",
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                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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        "index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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