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Datasets:
DuckZH
/
so100_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
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sequence
observation.state
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49.8
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int64
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1.5k
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[ 12.48046875, 133.681640625, 125.244140625, 73.212890625, 85.693359375, 10.571185111999512 ]
[ 6.85546875, 134.736328125, 130.341796875, 72.685546875, 85.25390625, 9.98217487335205 ]
2.466667
74
0
74
0
[ 13.88671875, 133.2421875, 124.365234375, 73.212890625, 85.693359375, 10.571185111999512 ]
[ 8.61328125, 134.208984375, 129.19921875, 72.685546875, 85.4296875, 9.98217487335205 ]
2.5
75
0
75
0
[ 15.205078125, 132.978515625, 123.486328125, 73.212890625, 85.693359375, 10.571185111999512 ]
[ 10.1953125, 133.59375, 128.14453125, 72.685546875, 85.25390625, 9.98217487335205 ]
2.533333
76
0
76
0
[ 16.435546875, 132.802734375, 122.783203125, 73.212890625, 85.693359375, 10.571185111999512 ]
[ 11.25, 133.154296875, 127.177734375, 72.685546875, 85.25390625, 9.98217487335205 ]
2.566667
77
0
77
0
[ 17.578125, 132.71484375, 122.080078125, 73.212890625, 85.693359375, 10.571185111999512 ]
[ 12.3046875, 132.5390625, 126.123046875, 72.685546875, 85.341796875, 9.98217487335205 ]
2.6
78
0
78
0
[ 18.6328125, 132.71484375, 121.46484375, 73.212890625, 85.693359375, 10.571185111999512 ]
[ 13.7109375, 132.1875, 125.244140625, 72.685546875, 85.341796875, 9.98217487335205 ]
2.633333
79
0
79
0
[ 19.599609375, 132.71484375, 121.025390625, 73.212890625, 85.693359375, 10.571185111999512 ]
[ 15.029296875, 132.099609375, 124.8046875, 72.685546875, 85.341796875, 9.98217487335205 ]
2.666667
80
0
80
0
[ 20.56640625, 132.71484375, 120.76171875, 73.212890625, 85.78125, 10.571185111999512 ]
[ 16.259765625, 132.099609375, 124.1015625, 72.685546875, 85.4296875, 9.98217487335205 ]
2.7
81
0
81
0
[ 21.357421875, 132.71484375, 120.5859375, 73.212890625, 86.044921875, 10.571185111999512 ]
[ 17.666015625, 132.099609375, 123.57421875, 72.685546875, 85.341796875, 9.98217487335205 ]
2.733333
82
0
82
0
[ 22.060546875, 132.71484375, 120.498046875, 73.212890625, 86.044921875, 10.571185111999512 ]
[ 18.6328125, 132.099609375, 122.958984375, 72.685546875, 85.341796875, 9.98217487335205 ]
2.766667
83
0
83
0
[ 22.763671875, 132.71484375, 120.41015625, 73.125, 86.044921875, 10.571185111999512 ]
[ 19.51171875, 132.099609375, 122.607421875, 72.685546875, 85.4296875, 9.98217487335205 ]
2.8
84
0
84
0
[ 23.37890625, 132.71484375, 120.41015625, 72.94921875, 85.95703125, 10.571185111999512 ]
[ 20.21484375, 132.099609375, 122.34375, 72.685546875, 85.60546875, 9.98217487335205 ]
2.833333
85
0
85
0
[ 24.08203125, 132.71484375, 120.41015625, 72.7734375, 85.869140625, 10.571185111999512 ]
[ 20.830078125, 132.099609375, 122.34375, 72.685546875, 85.693359375, 9.98217487335205 ]
2.866667
86
0
86
0
[ 24.78515625, 132.71484375, 120.41015625, 72.421875, 85.869140625, 10.571185111999512 ]
[ 21.62109375, 132.099609375, 122.34375, 72.509765625, 85.517578125, 9.98217487335205 ]
2.9
87
0
87
0
[ 25.48828125, 132.71484375, 120.41015625, 72.24609375, 85.869140625, 10.571185111999512 ]
[ 22.587890625, 132.099609375, 122.34375, 72.509765625, 85.4296875, 9.98217487335205 ]
2.933333
88
0
88
0
[ 26.279296875, 132.71484375, 120.41015625, 72.24609375, 86.1328125, 10.571185111999512 ]
[ 23.291015625, 132.099609375, 122.34375, 72.421875, 85.341796875, 9.98217487335205 ]
2.966667
89
0
89
0
[ 27.158203125, 132.71484375, 120.41015625, 72.24609375, 86.220703125, 10.571185111999512 ]
[ 24.169921875, 132.099609375, 122.34375, 72.421875, 85.25390625, 9.98217487335205 ]
3
90
0
90
0
[ 28.037109375, 132.71484375, 120.41015625, 72.24609375, 86.220703125, 10.571185111999512 ]
[ 24.78515625, 132.099609375, 122.34375, 72.333984375, 85.517578125, 9.98217487335205 ]
3.033333
91
0
91
0
[ 28.916015625, 132.71484375, 120.41015625, 72.24609375, 86.30859375, 10.571185111999512 ]
[ 25.48828125, 132.099609375, 122.34375, 72.333984375, 85.60546875, 9.98217487335205 ]
3.066667
92
0
92
0
[ 29.619140625, 132.71484375, 120.41015625, 72.158203125, 86.30859375, 10.571185111999512 ]
[ 26.455078125, 132.01171875, 122.34375, 72.333984375, 85.60546875, 9.98217487335205 ]
3.1
93
0
93
0
[ 30.146484375, 132.71484375, 120.322265625, 72.158203125, 86.30859375, 10.571185111999512 ]
[ 26.982421875, 132.01171875, 122.34375, 72.333984375, 85.60546875, 9.98217487335205 ]
3.133333
94
0
94
0
[ 30.5859375, 132.71484375, 120.322265625, 72.158203125, 86.30859375, 10.571185111999512 ]
[ 27.861328125, 132.01171875, 122.34375, 72.333984375, 85.60546875, 9.98217487335205 ]
3.166667
95
0
95
0
[ 30.76171875, 132.71484375, 120.322265625, 72.158203125, 86.30859375, 10.571185111999512 ]
[ 28.828125, 132.01171875, 122.34375, 72.333984375, 85.60546875, 9.98217487335205 ]
3.2
96
0
96
0
[ 30.849609375, 132.71484375, 120.322265625, 72.158203125, 86.30859375, 10.571185111999512 ]
[ 29.091796875, 132.01171875, 122.34375, 72.333984375, 85.60546875, 9.98217487335205 ]
3.233333
97
0
97
0
[ 30.849609375, 132.71484375, 120.234375, 72.158203125, 86.30859375, 10.571185111999512 ]
[ 29.619140625, 132.01171875, 122.34375, 72.333984375, 85.60546875, 9.98217487335205 ]
3.266667
98
0
98
0
[ 30.849609375, 132.71484375, 119.70703125, 72.158203125, 86.30859375, 10.571185111999512 ]
[ 29.70703125, 132.01171875, 122.34375, 72.333984375, 85.60546875, 9.98217487335205 ]
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": 6,
    "total_frames": 8976,
    "total_tasks": 1,
    "total_videos": 12,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:6"
    },
    "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.wrist": {
            "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
            }
        },
        "observation.images.front": {
            "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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License:
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Number of rows:
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