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Datasets:
zijian2022
/
so1000_test

Tasks:
Robotics
Modalities:
Tabular
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Video
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
so100
tutorial
Libraries:
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Dask
License:
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action
sequence
observation.state
sequence
timestamp
float32
0
9.93
frame_index
int64
0
298
episode_index
int64
0
1
index
int64
0
597
task_index
int64
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0
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0
[ 15.1171875, 192.65625, 179.82421875, 25.400390625, -10.1953125, 0.10427528619766235 ]
[ 13.359375, 191.513671875, 179.033203125, 23.642578125, -8.7890625, 4.1500396728515625 ]
2.466667
74
0
74
0
[ 15.556640625, 192.65625, 179.82421875, 25.48828125, -11.07421875, 0.10427528619766235 ]
[ 13.623046875, 191.513671875, 179.033203125, 24.521484375, -8.96484375, 4.1500396728515625 ]
2.5
75
0
75
0
[ 16.083984375, 192.65625, 179.82421875, 25.48828125, -11.162109375, 0.10427528619766235 ]
[ 14.150390625, 191.513671875, 179.12109375, 24.609375, -9.755859375, 4.1500396728515625 ]
2.533333
76
0
76
0
[ 16.5234375, 192.65625, 179.82421875, 25.576171875, -11.162109375, 0.10427528619766235 ]
[ 14.58984375, 191.513671875, 179.12109375, 24.697265625, -10.283203125, 4.1500396728515625 ]
2.566667
77
0
77
0
[ 16.787109375, 192.65625, 179.82421875, 25.576171875, -11.6015625, 0.10427528619766235 ]
[ 15.1171875, 191.513671875, 179.12109375, 24.78515625, -10.458984375, 4.1500396728515625 ]
2.6
78
0
78
0
[ 16.787109375, 192.65625, 179.82421875, 25.751953125, -11.689453125, 0.10427528619766235 ]
[ 15.46875, 191.513671875, 179.12109375, 24.873046875, -10.546875, 4.1500396728515625 ]
2.633333
79
0
79
0
[ 16.259765625, 192.65625, 179.82421875, 25.927734375, -11.77734375, 0.10427528619766235 ]
[ 15.556640625, 191.513671875, 179.12109375, 24.9609375, -10.634765625, 4.1500396728515625 ]
2.666667
80
0
80
0
[ 15.732421875, 192.65625, 179.82421875, 26.103515625, -11.77734375, 0.10427528619766235 ]
[ 15.64453125, 191.513671875, 179.12109375, 24.9609375, -10.634765625, 4.1500396728515625 ]
2.7
81
0
81
0
[ 14.94140625, 192.65625, 179.82421875, 26.103515625, -11.77734375, 0.10427528619766235 ]
[ 15.64453125, 191.513671875, 179.12109375, 24.9609375, -10.634765625, 4.1500396728515625 ]
2.733333
82
0
82
0
[ 14.150390625, 192.65625, 179.82421875, 26.103515625, -11.77734375, 0.10427528619766235 ]
[ 15.29296875, 191.513671875, 179.12109375, 25.576171875, -10.634765625, 4.1500396728515625 ]
2.766667
83
0
83
0
[ 13.447265625, 192.65625, 179.82421875, 26.103515625, -11.865234375, 0.10427528619766235 ]
[ 14.677734375, 191.513671875, 179.12109375, 25.6640625, -10.634765625, 4.1500396728515625 ]
2.8
84
0
84
0
[ 12.744140625, 192.65625, 179.82421875, 26.103515625, -11.865234375, 0.10427528619766235 ]
[ 14.4140625, 191.513671875, 179.12109375, 25.751953125, -10.634765625, 4.1500396728515625 ]
2.833333
85
0
85
0
[ 11.953125, 192.65625, 179.82421875, 26.103515625, -11.865234375, 0.10427528619766235 ]
[ 13.7109375, 191.513671875, 179.12109375, 25.751953125, -10.634765625, 4.1500396728515625 ]
2.866667
86
0
86
0
[ 11.337890625, 192.65625, 179.82421875, 26.103515625, -12.65625, 0.10427528619766235 ]
[ 12.83203125, 191.513671875, 179.12109375, 25.83984375, -10.634765625, 4.1500396728515625 ]
2.9
87
0
87
0
[ 10.986328125, 192.65625, 179.82421875, 26.103515625, -13.447265625, 0.10427528619766235 ]
[ 12.041015625, 191.513671875, 179.12109375, 25.927734375, -10.8984375, 4.1500396728515625 ]
2.933333
88
0
88
0
[ 10.634765625, 192.65625, 179.82421875, 26.19140625, -14.150390625, 0.10427528619766235 ]
[ 11.513671875, 191.513671875, 179.12109375, 25.927734375, -11.6015625, 4.1500396728515625 ]
2.966667
89
0
89
0
[ 10.37109375, 192.65625, 179.82421875, 26.19140625, -15.1171875, 0.10427528619766235 ]
[ 10.986328125, 191.513671875, 179.12109375, 25.927734375, -12.568359375, 4.1500396728515625 ]
3
90
0
90
0
[ 10.1953125, 192.65625, 179.82421875, 26.19140625, -15.1171875, 0.10427528619766235 ]
[ 10.546875, 191.513671875, 179.12109375, 25.927734375, -13.359375, 4.1500396728515625 ]
3.033333
91
0
91
0
[ 9.931640625, 192.65625, 179.82421875, 26.19140625, -15.46875, 0.10427528619766235 ]
[ 10.283203125, 191.513671875, 179.12109375, 25.927734375, -13.974609375, 4.1500396728515625 ]
3.066667
92
0
92
0
[ 9.66796875, 192.65625, 179.82421875, 26.279296875, -15.8203125, 0.10427528619766235 ]
[ 10.283203125, 191.513671875, 179.12109375, 25.927734375, -14.23828125, 4.1500396728515625 ]
3.1
93
0
93
0
[ 9.404296875, 192.65625, 179.82421875, 26.279296875, -15.908203125, 0.10427528619766235 ]
[ 9.84375, 191.513671875, 179.12109375, 25.927734375, -14.501953125, 4.1500396728515625 ]
3.133333
94
0
94
0
[ 9.052734375, 192.65625, 179.82421875, 26.279296875, -16.083984375, 0.10427528619766235 ]
[ 9.4921875, 191.513671875, 179.12109375, 25.927734375, -14.501953125, 4.1500396728515625 ]
3.166667
95
0
95
0
[ 8.7890625, 192.65625, 179.82421875, 26.279296875, -16.875, 0.10427528619766235 ]
[ 9.228515625, 191.513671875, 179.12109375, 25.927734375, -14.94140625, 4.1500396728515625 ]
3.2
96
0
96
0
[ 8.7890625, 192.65625, 179.82421875, 26.279296875, -17.2265625, 0.10427528619766235 ]
[ 9.140625, 191.513671875, 179.12109375, 25.927734375, -15.380859375, 4.1500396728515625 ]
3.233333
97
0
97
0
[ 8.876953125, 192.65625, 179.82421875, 26.279296875, -17.2265625, 0.10427528619766235 ]
[ 8.876953125, 191.513671875, 179.12109375, 25.927734375, -15.8203125, 4.1500396728515625 ]
3.266667
98
0
98
0
[ 9.140625, 192.65625, 179.82421875, 26.455078125, -17.2265625, 0.10427528619766235 ]
[ 8.525390625, 191.513671875, 179.12109375, 25.927734375, -16.34765625, 4.1500396728515625 ]
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": 2,
    "total_frames": 598,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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",
                "channels"
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            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "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",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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