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Datasets:
Congying1112
/
so100_place_bottle

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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xet
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action
sequence
observation.state
sequence
timestamp
float32
0
29.7
frame_index
int64
0
890
episode_index
int64
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1
index
int64
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1.78k
task_index
int64
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2.333333
70
0
70
0
[ 0.17578125, 188.96484375, 177.978515625, 79.27734375, -97.294921875, 0 ]
[ 0.263671875, 188.525390625, 176.8359375, 77.255859375, -96.85546875, 0.435097873210907 ]
2.366667
71
0
71
0
[ 0.087890625, 188.96484375, 177.978515625, 79.27734375, -97.03125, 0 ]
[ 0.263671875, 188.525390625, 176.8359375, 77.255859375, -96.85546875, 0.435097873210907 ]
2.4
72
0
72
0
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[ 0.263671875, 188.525390625, 176.8359375, 77.255859375, -96.85546875, 0.435097873210907 ]
2.433333
73
0
73
0
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2.466667
74
0
74
0
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2.5
75
0
75
0
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[ 0.263671875, 188.525390625, 176.8359375, 77.255859375, -96.328125, 0.435097873210907 ]
2.533333
76
0
76
0
[ -0.087890625, 189.052734375, 177.978515625, 79.189453125, -96.416015625, 0 ]
[ 0.263671875, 188.525390625, 176.8359375, 77.255859375, -96.15234375, 0.435097873210907 ]
2.566667
77
0
77
0
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2.6
78
0
78
0
[ -0.263671875, 189.052734375, 177.978515625, 78.57421875, -95.9765625, 0 ]
[ 0.263671875, 188.876953125, 176.8359375, 77.34375, -96.15234375, 0.435097873210907 ]
2.633333
79
0
79
0
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[ 0.263671875, 188.876953125, 176.8359375, 77.34375, -96.064453125, 0.435097873210907 ]
2.666667
80
0
80
0
[ -0.263671875, 189.052734375, 177.978515625, 77.34375, -95.9765625, 0 ]
[ 0.263671875, 188.876953125, 176.923828125, 77.34375, -95.537109375, 0.435097873210907 ]
2.7
81
0
81
0
[ -0.087890625, 189.052734375, 177.978515625, 76.201171875, -95.9765625, 0 ]
[ 0.263671875, 188.876953125, 176.923828125, 77.34375, -95.361328125, 0.435097873210907 ]
2.733333
82
0
82
0
[ 0.17578125, 189.052734375, 177.978515625, 74.70703125, -95.80078125, 0 ]
[ 0.263671875, 188.876953125, 177.01171875, 76.9921875, -95.2734375, 0.435097873210907 ]
2.766667
83
0
83
0
[ 0.3515625, 188.96484375, 177.890625, 73.388671875, -95.537109375, 0 ]
[ 0.263671875, 188.876953125, 177.099609375, 76.81640625, -95.2734375, 0.435097873210907 ]
2.8
84
0
84
0
[ 0.52734375, 188.96484375, 177.71484375, 72.59765625, -95.44921875, 0 ]
[ 0.263671875, 188.701171875, 177.1875, 75.673828125, -95.2734375, 0.435097873210907 ]
2.833333
85
0
85
0
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[ 0.263671875, 188.349609375, 177.1875, 74.35546875, -95.2734375, 0.435097873210907 ]
2.866667
86
0
86
0
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[ 0.263671875, 188.525390625, 177.1875, 73.564453125, -95.2734375, 0.435097873210907 ]
2.9
87
0
87
0
[ 0.52734375, 188.96484375, 176.572265625, 72.7734375, -94.921875, 0.7592191100120544 ]
[ 0.263671875, 188.525390625, 177.1875, 73.212890625, -95.2734375, 0.435097873210907 ]
2.933333
88
0
88
0
[ 0.615234375, 188.96484375, 176.1328125, 72.7734375, -94.39453125, 1.7353579998016357 ]
[ 0.263671875, 188.4375, 177.1875, 72.94921875, -95.2734375, 0.435097873210907 ]
2.966667
89
0
89
0
[ 0.615234375, 188.96484375, 175.4296875, 73.125, -94.130859375, 2.1691973209381104 ]
[ 0.263671875, 188.4375, 177.1875, 72.861328125, -94.921875, 0.435097873210907 ]
3
90
0
90
0
[ 0.615234375, 188.96484375, 174.638671875, 73.740234375, -93.955078125, 2.494576930999756 ]
[ 0.17578125, 188.525390625, 177.1875, 72.7734375, -94.5703125, 0.7251631617546082 ]
3.033333
91
0
91
0
[ 0.615234375, 188.96484375, 173.49609375, 74.70703125, -93.603515625, 3.145336389541626 ]
[ 0.17578125, 188.349609375, 176.923828125, 72.94921875, -94.39453125, 1.1602610349655151 ]
3.066667
92
0
92
0
[ 0.3515625, 188.96484375, 172.177734375, 76.025390625, -93.427734375, 3.253795862197876 ]
[ 0.17578125, 187.91015625, 176.396484375, 72.94921875, -93.779296875, 1.377810001373291 ]
3.1
93
0
93
0
[ 0, 188.96484375, 170.595703125, 77.6953125, -93.427734375, 3.4707159996032715 ]
[ 0.17578125, 187.998046875, 175.869140625, 73.564453125, -93.427734375, 1.9579404592514038 ]
3.133333
94
0
94
0
[ -0.3515625, 188.96484375, 169.013671875, 79.27734375, -93.251953125, 3.5791759490966797 ]
[ 0.17578125, 188.0859375, 174.990234375, 74.70703125, -93.33984375, 2.2480058670043945 ]
3.166667
95
0
95
0
[ -0.791015625, 188.96484375, 167.34375, 80.5078125, -92.724609375, 3.5791759490966797 ]
[ 0.17578125, 188.26171875, 173.759765625, 75.9375, -93.33984375, 2.3205220699310303 ]
3.2
96
0
96
0
[ -1.142578125, 188.96484375, 165.5859375, 81.5625, -92.28515625, 4.013015270233154 ]
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3.233333
97
0
97
0
[ -1.40625, 188.96484375, 163.916015625, 82.44140625, -91.845703125, 4.2299346923828125 ]
[ 0.087890625, 188.349609375, 171.03515625, 78.57421875, -92.900390625, 2.6105873584747314 ]
3.266667
98
0
98
0
[ -1.669921875, 188.96484375, 162.158203125, 83.408203125, -91.40625, 4.338394641876221 ]
[ 0, 187.822265625, 169.1015625, 79.716796875, -92.197265625, 3.045685291290283 ]
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": 1782,
    "total_tasks": 1,
    "total_videos": 2,
    "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": [
                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.laptop": {
            "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,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "episode_index": {
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            "shape": [
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            "names": null
        },
        "index": {
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            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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