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Datasets:
AaronNewman
/
so100_test3

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
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Dask
License:
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action
sequence
observation.state
sequence
timestamp
float32
0
14.9
frame_index
int64
0
446
episode_index
int64
0
2
index
int64
0
1.34k
task_index
int64
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0
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[ -7.20703125, 189.140625, 181.318359375, 44.560546875, 4.658203125, 0.6164383888244629 ]
2.4
72
0
72
0
[ -7.20703125, 188.876953125, 182.63671875, 42.5390625, 5.09765625, 0.0892857164144516 ]
[ -7.20703125, 189.140625, 181.318359375, 44.384765625, 4.658203125, 0.6164383888244629 ]
2.433333
73
0
73
0
[ -7.20703125, 188.4375, 182.548828125, 42.099609375, 4.833984375, 0.0892857164144516 ]
[ -7.20703125, 189.052734375, 181.318359375, 43.857421875, 4.658203125, 0.6164383888244629 ]
2.466667
74
0
74
0
[ -7.20703125, 188.173828125, 182.548828125, 41.8359375, 4.658203125, 0.0892857164144516 ]
[ -7.20703125, 188.876953125, 181.318359375, 43.59375, 4.482421875, 0.6164383888244629 ]
2.5
75
0
75
0
[ -7.3828125, 188.0859375, 182.548828125, 41.8359375, 4.130859375, 0.0892857164144516 ]
[ -7.20703125, 188.4375, 181.318359375, 43.154296875, 4.21875, 0.6164383888244629 ]
2.533333
76
0
76
0
[ -7.646484375, 188.0859375, 182.548828125, 41.8359375, 3.603515625, 0.0892857164144516 ]
[ -7.20703125, 188.173828125, 181.318359375, 42.71484375, 4.21875, 0.6164383888244629 ]
2.566667
77
0
77
0
[ -7.91015625, 188.0859375, 182.548828125, 41.748046875, 3.251953125, 0.0892857164144516 ]
[ -7.20703125, 188.173828125, 181.318359375, 42.626953125, 3.955078125, 0.6164383888244629 ]
2.6
78
0
78
0
[ -7.998046875, 188.0859375, 182.548828125, 41.748046875, 3.1640625, 0.0892857164144516 ]
[ -7.20703125, 188.173828125, 181.318359375, 42.451171875, 3.515625, 0.6164383888244629 ]
2.633333
79
0
79
0
[ -7.734375, 188.0859375, 182.548828125, 41.748046875, 3.515625, 0.0892857164144516 ]
[ -7.20703125, 188.173828125, 181.318359375, 42.36328125, 3.251953125, 0.6164383888244629 ]
2.666667
80
0
80
0
[ -7.3828125, 188.0859375, 182.548828125, 41.748046875, 3.8671875, 0.0892857164144516 ]
[ -7.20703125, 188.173828125, 181.318359375, 42.36328125, 3.1640625, 0.6164383888244629 ]
2.7
81
0
81
0
[ -7.294921875, 188.173828125, 182.548828125, 41.66015625, 3.603515625, 0.0892857164144516 ]
[ -7.20703125, 188.173828125, 181.318359375, 42.36328125, 3.1640625, 0.6164383888244629 ]
2.733333
82
0
82
0
[ -7.734375, 188.173828125, 182.548828125, 41.572265625, 2.98828125, 0.0892857164144516 ]
[ -7.20703125, 188.173828125, 181.318359375, 42.36328125, 3.1640625, 0.6164383888244629 ]
2.766667
83
0
83
0
[ -8.173828125, 188.0859375, 182.548828125, 41.484375, 2.373046875, 0.0892857164144516 ]
[ -7.20703125, 188.173828125, 181.318359375, 42.36328125, 2.98828125, 0.6164383888244629 ]
2.8
84
0
84
0
[ -8.4375, 187.998046875, 182.548828125, 41.396484375, 2.021484375, 0.0892857164144516 ]
[ -7.20703125, 188.173828125, 181.318359375, 42.36328125, 2.63671875, 0.6164383888244629 ]
2.833333
85
0
85
0
[ -8.61328125, 187.998046875, 182.548828125, 41.30859375, 1.7578125, 0.0892857164144516 ]
[ -7.294921875, 187.998046875, 181.318359375, 42.36328125, 2.373046875, 0.6164383888244629 ]
2.866667
86
0
86
0
[ -8.701171875, 187.91015625, 182.548828125, 41.30859375, 1.58203125, 0.0892857164144516 ]
[ -7.470703125, 187.646484375, 181.318359375, 42.36328125, 1.93359375, 0.6164383888244629 ]
2.9
87
0
87
0
[ -8.876953125, 187.91015625, 182.548828125, 41.30859375, 1.494140625, 0.0892857164144516 ]
[ -7.646484375, 187.294921875, 181.318359375, 42.36328125, 1.58203125, 0.6164383888244629 ]
2.933333
88
0
88
0
[ -8.96484375, 187.91015625, 182.548828125, 41.220703125, 1.318359375, 0.0892857164144516 ]
[ -7.91015625, 187.119140625, 181.318359375, 42.36328125, 1.318359375, 0.6164383888244629 ]
2.966667
89
0
89
0
[ -8.96484375, 187.734375, 182.548828125, 41.220703125, 1.58203125, 0.0892857164144516 ]
[ -8.173828125, 187.119140625, 181.318359375, 42.36328125, 1.142578125, 0.6164383888244629 ]
3
90
0
90
0
[ -8.61328125, 187.646484375, 182.548828125, 41.1328125, 2.021484375, 0.0892857164144516 ]
[ -8.173828125, 187.119140625, 181.318359375, 42.36328125, 1.142578125, 0.6164383888244629 ]
3.033333
91
0
91
0
[ -8.26171875, 187.3828125, 182.4609375, 41.044921875, 2.548828125, 0.0892857164144516 ]
[ -8.173828125, 187.119140625, 181.318359375, 42.36328125, 1.142578125, 0.6164383888244629 ]
3.066667
92
0
92
0
[ -7.998046875, 187.03125, 182.373046875, 40.95703125, 2.8125, 0.0892857164144516 ]
[ -8.173828125, 187.119140625, 181.318359375, 42.36328125, 1.494140625, 0.6164383888244629 ]
3.1
93
0
93
0
[ -7.822265625, 186.15234375, 182.109375, 40.693359375, 2.8125, 0.0892857164144516 ]
[ -8.0859375, 187.119140625, 181.318359375, 42.1875, 1.58203125, 0.6164383888244629 ]
3.133333
94
0
94
0
[ -7.646484375, 184.74609375, 181.58203125, 40.166015625, 2.28515625, 0.0892857164144516 ]
[ -7.646484375, 187.03125, 181.318359375, 41.748046875, 1.669921875, 0.6164383888244629 ]
3.166667
95
0
95
0
[ -7.3828125, 182.724609375, 180.703125, 39.90234375, 1.845703125, 0.0892857164144516 ]
[ -7.03125, 186.50390625, 181.23046875, 41.572265625, 1.669921875, 0.6164383888244629 ]
3.2
96
0
96
0
[ -6.943359375, 180.52734375, 179.384765625, 39.90234375, 1.93359375, 0.0892857164144516 ]
[ -6.943359375, 185.2734375, 181.23046875, 41.1328125, 1.58203125, 0.6164383888244629 ]
3.233333
97
0
97
0
[ -6.416015625, 178.06640625, 177.71484375, 39.990234375, 2.109375, 0.0892857164144516 ]
[ -6.943359375, 183.69140625, 180.87890625, 40.78125, 1.23046875, 0.6164383888244629 ]
3.266667
98
0
98
0
[ -6.064453125, 175.517578125, 175.693359375, 40.166015625, 2.021484375, 0.0892857164144516 ]
[ -6.943359375, 182.021484375, 180, 40.4296875, 1.40625, 0.6164383888244629 ]
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": "v2.0",
    "robot_type": "so100",
    "total_episodes": 3,
    "total_frames": 1339,
    "total_tasks": 1,
    "total_videos": 6,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:3"
    },
    "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,
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                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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                "has_audio": false
            }
        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
                480,
                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": [
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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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