Datasets:
metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- so100
- audio
configs:
- config_name: default
data_files: data/*/*.parquet
This dataset was created using LeRobot.
Dataset Description
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 44,
"total_frames": 15772,
"total_tasks": 1,
"total_videos": 132,
"total_audio": 132,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:44"
},
"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",
"audio_path": "audio/chunk-{episode_chunk:03d}/{audio_key}/episode_{episode_index:06d}.m4a",
"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.camera_1": {
"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": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false
}
},
"observation.images.camera_2": {
"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": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false
}
},
"observation.images.camera_3": {
"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": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false
}
},
"observation.audio.camera_1": {
"dtype": "audio",
"shape": [
1,
1
],
"names": "channels",
"info": {
"has_audio": true,
"audio.channels": 1,
"audio.codec": "aac",
"audio.bit_rate": 69206,
"audio.sample_rate": 48000,
"audio.bit_depth": null,
"audio.channel_layout": "mono"
}
},
"observation.audio.camera_2": {
"dtype": "audio",
"shape": [
1,
1
],
"names": "channels",
"info": {
"has_audio": true,
"audio.channels": 1,
"audio.codec": "aac",
"audio.bit_rate": 69238,
"audio.sample_rate": 48000,
"audio.bit_depth": null,
"audio.channel_layout": "mono"
}
},
"observation.audio.camera_3": {
"dtype": "audio",
"shape": [
1,
1
],
"names": "channels",
"info": {
"has_audio": true,
"audio.channels": 1,
"audio.codec": "aac",
"audio.bit_rate": 69428,
"audio.sample_rate": 48000,
"audio.bit_depth": null,
"audio.channel_layout": "mono"
}
},
"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": [
1
],
"names": null
}
}
}
Citation
BibTeX:
[More Information Needed]