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Datasets:
DuckZH
/
so100_test_4

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
Libraries:
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Dask
License:
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sequence
observation.state
sequence
timestamp
float32
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44.8
frame_index
int64
0
1.35k
episode_index
int64
0
9
index
int64
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13.5k
task_index
int64
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74
0
74
0
[ 3.779296875, 195.29296875, 179.47265625, 87.5390625, 96.064453125, -3.8630378246307373 ]
[ 3.251953125, 194.677734375, 178.9453125, 86.484375, 95.537109375, -1.8421051502227783 ]
2.5
75
0
75
0
[ 3.8671875, 195.29296875, 179.384765625, 87.890625, 95.9765625, -3.8630378246307373 ]
[ 3.251953125, 194.677734375, 178.9453125, 86.484375, 95.537109375, -1.8421051502227783 ]
2.533333
76
0
76
0
[ 3.955078125, 195.29296875, 179.296875, 87.890625, 95.9765625, -3.8630378246307373 ]
[ 3.251953125, 194.677734375, 178.9453125, 86.484375, 95.537109375, -1.8421051502227783 ]
2.566667
77
0
77
0
[ 4.04296875, 195.29296875, 179.208984375, 87.978515625, 95.9765625, -3.8630378246307373 ]
[ 3.251953125, 194.677734375, 178.9453125, 86.484375, 95.2734375, -1.8421051502227783 ]
2.6
78
0
78
0
[ 4.04296875, 195.29296875, 178.76953125, 88.06640625, 95.9765625, -4.302019119262695 ]
[ 3.251953125, 194.677734375, 178.9453125, 86.572265625, 95.185546875, -1.8421051502227783 ]
2.633333
79
0
79
0
[ 4.04296875, 195.29296875, 177.978515625, 88.154296875, 95.888671875, -4.389815807342529 ]
[ 3.515625, 194.677734375, 178.9453125, 86.748046875, 95.185546875, -1.9298245906829834 ]
2.666667
80
0
80
0
[ 4.04296875, 195.29296875, 176.66015625, 88.154296875, 95.888671875, -4.389815807342529 ]
[ 3.603515625, 194.765625, 178.9453125, 87.01171875, 95.185546875, -2.1052632331848145 ]
2.7
81
0
81
0
[ 4.04296875, 195.29296875, 174.990234375, 88.154296875, 95.80078125, -4.389815807342529 ]
[ 3.603515625, 194.765625, 178.76953125, 87.01171875, 95.185546875, -2.1052632331848145 ]
2.733333
82
0
82
0
[ 4.04296875, 195.29296875, 173.056640625, 88.2421875, 95.80078125, -4.389815807342529 ]
[ 3.603515625, 194.765625, 178.330078125, 87.099609375, 95.185546875, -2.1052632331848145 ]
2.766667
83
0
83
0
[ 4.130859375, 195.205078125, 171.123046875, 88.505859375, 95.80078125, -4.389815807342529 ]
[ 3.603515625, 194.765625, 177.5390625, 87.275390625, 95.185546875, -2.1052632331848145 ]
2.8
84
0
84
0
[ 4.130859375, 195.1171875, 168.837890625, 89.296875, 95.80078125, -4.389815807342529 ]
[ 3.779296875, 194.765625, 176.30859375, 87.71484375, 95.185546875, -2.1052632331848145 ]
2.833333
85
0
85
0
[ 4.130859375, 195.1171875, 166.728515625, 90.52734375, 95.80078125, -4.389815807342529 ]
[ 3.779296875, 194.765625, 175.166015625, 88.154296875, 95.185546875, -2.1052632331848145 ]
2.866667
86
0
86
0
[ 4.130859375, 195.1171875, 164.53125, 92.28515625, 95.888671875, -4.389815807342529 ]
[ 3.779296875, 194.765625, 173.14453125, 88.857421875, 95.185546875, -2.1052632331848145 ]
2.9
87
0
87
0
[ 4.130859375, 195.1171875, 162.24609375, 94.39453125, 96.15234375, -4.389815807342529 ]
[ 3.779296875, 194.765625, 170.859375, 89.82421875, 95.185546875, -2.1052632331848145 ]
2.933333
88
0
88
0
[ 4.21875, 195.1171875, 160.048828125, 95.80078125, 95.80078125, -4.389815807342529 ]
[ 3.779296875, 194.765625, 168.662109375, 91.58203125, 95.185546875, -2.1052632331848145 ]
2.966667
89
0
89
0
[ 4.21875, 195.1171875, 157.763671875, 97.734375, 95.888671875, -4.389815807342529 ]
[ 3.779296875, 194.765625, 166.728515625, 92.900390625, 95.44921875, -2.1052632331848145 ]
3
90
0
90
0
[ 4.21875, 195.029296875, 155.390625, 99.228515625, 95.888671875, -4.389815807342529 ]
[ 3.779296875, 194.765625, 164.70703125, 94.21875, 95.361328125, -2.1052632331848145 ]
3.033333
91
0
91
0
[ 4.21875, 195.029296875, 153.193359375, 100.546875, 95.9765625, -4.389815807342529 ]
[ 3.779296875, 194.765625, 162.421875, 96.240234375, 95.09765625, -2.1052632331848145 ]
3.066667
92
0
92
0
[ 4.21875, 195.029296875, 150.908203125, 101.513671875, 95.888671875, -4.389815807342529 ]
[ 3.779296875, 194.765625, 160.13671875, 96.943359375, 95.09765625, -2.1052632331848145 ]
3.1
93
0
93
0
[ 4.21875, 195.029296875, 148.88671875, 102.744140625, 96.064453125, -4.389815807342529 ]
[ 3.779296875, 194.765625, 157.763671875, 99.052734375, 95.09765625, -2.1052632331848145 ]
3.133333
94
0
94
0
[ 4.21875, 195.029296875, 147.12890625, 103.974609375, 96.064453125, -4.389815807342529 ]
[ 3.779296875, 194.765625, 155.478515625, 100.1953125, 95.09765625, -2.1052632331848145 ]
3.166667
95
0
95
0
[ 4.21875, 195.029296875, 145.546875, 105.205078125, 96.328125, -4.389815807342529 ]
[ 3.779296875, 194.765625, 152.9296875, 101.162109375, 95.361328125, -2.1052632331848145 ]
3.2
96
0
96
0
[ 4.21875, 195.029296875, 144.052734375, 106.259765625, 96.50390625, -4.389815807342529 ]
[ 3.779296875, 194.853515625, 151.171875, 102.48046875, 95.712890625, -2.1052632331848145 ]
3.233333
97
0
97
0
[ 4.306640625, 194.677734375, 142.3828125, 107.05078125, 96.591796875, -4.389815807342529 ]
[ 3.779296875, 194.853515625, 149.501953125, 103.974609375, 95.712890625, -2.1052632331848145 ]
3.266667
98
0
98
0
[ 4.306640625, 193.623046875, 140.625, 107.314453125, 96.591796875, -4.389815807342529 ]
[ 3.779296875, 194.853515625, 147.83203125, 105.029296875, 95.80078125, -2.1052632331848145 ]
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": 10,
    "total_frames": 13460,
    "total_tasks": 1,
    "total_videos": 20,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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