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Datasets:
leodong
/
so100_test2

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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action
sequence
observation.state
sequence
timestamp
float32
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28.5
frame_index
int64
0
854
episode_index
int64
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1
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int64
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1.31k
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[ 22.763671875, -16.962890625, 24.78515625, 137.548828125, 125.947265625, 19.461078643798828 ]
2.4
72
0
72
0
[ 23.73046875, -20.126953125, 25.83984375, 133.681640625, 126.38671875, 19.474197387695312 ]
[ 22.763671875, -17.314453125, 24.78515625, 137.548828125, 125.947265625, 19.461078643798828 ]
2.433333
73
0
73
0
[ 23.73046875, -20.478515625, 26.19140625, 133.06640625, 126.38671875, 19.474197387695312 ]
[ 22.763671875, -18.193359375, 24.873046875, 136.93359375, 125.947265625, 19.461078643798828 ]
2.466667
74
0
74
0
[ 23.818359375, -20.830078125, 26.71875, 132.451171875, 126.38671875, 19.474197387695312 ]
[ 22.763671875, -18.984375, 24.873046875, 136.23046875, 125.947265625, 19.461078643798828 ]
2.5
75
0
75
0
[ 23.818359375, -21.005859375, 27.333984375, 131.748046875, 126.38671875, 19.474197387695312 ]
[ 22.763671875, -19.248046875, 25.400390625, 135.615234375, 125.947265625, 19.461078643798828 ]
2.533333
76
0
76
0
[ 23.818359375, -21.005859375, 27.94921875, 131.1328125, 126.38671875, 19.474197387695312 ]
[ 22.763671875, -19.599609375, 25.6640625, 134.82421875, 125.947265625, 19.361276626586914 ]
2.566667
77
0
77
0
[ 23.818359375, -21.005859375, 28.564453125, 130.4296875, 126.38671875, 19.474197387695312 ]
[ 22.763671875, -20.126953125, 26.3671875, 134.12109375, 125.859375, 19.361276626586914 ]
2.6
78
0
78
0
[ 23.90625, -21.005859375, 29.091796875, 129.638671875, 126.38671875, 19.474197387695312 ]
[ 22.763671875, -20.390625, 26.630859375, 133.59375, 125.947265625, 19.461078643798828 ]
2.633333
79
0
79
0
[ 24.2578125, -21.005859375, 29.619140625, 128.935546875, 126.38671875, 19.474197387695312 ]
[ 22.763671875, -20.56640625, 27.333984375, 132.802734375, 125.947265625, 19.461078643798828 ]
2.666667
80
0
80
0
[ 25.224609375, -21.005859375, 30.234375, 128.3203125, 126.38671875, 19.474197387695312 ]
[ 22.763671875, -20.7421875, 28.125, 132.01171875, 125.859375, 19.461078643798828 ]
2.7
81
0
81
0
[ 26.630859375, -21.005859375, 30.849609375, 127.880859375, 126.38671875, 19.474197387695312 ]
[ 23.37890625, -20.7421875, 28.4765625, 131.220703125, 125.859375, 19.461078643798828 ]
2.733333
82
0
82
0
[ 28.4765625, -21.09375, 31.640625, 127.529296875, 126.38671875, 19.474197387695312 ]
[ 24.169921875, -20.7421875, 29.091796875, 130.693359375, 125.947265625, 19.461078643798828 ]
2.766667
83
0
83
0
[ 30.673828125, -21.181640625, 32.607421875, 127.177734375, 126.38671875, 19.474197387695312 ]
[ 25.048828125, -20.7421875, 29.53125, 129.990234375, 125.947265625, 19.461078643798828 ]
2.8
84
0
84
0
[ 33.134765625, -21.357421875, 33.662109375, 126.826171875, 126.38671875, 19.474197387695312 ]
[ 26.3671875, -20.7421875, 30.234375, 129.7265625, 125.859375, 19.361276626586914 ]
2.833333
85
0
85
0
[ 35.5078125, -21.357421875, 34.62890625, 126.650390625, 126.38671875, 19.474197387695312 ]
[ 28.037109375, -20.7421875, 31.201171875, 129.375, 125.947265625, 19.461078643798828 ]
2.866667
86
0
86
0
[ 37.880859375, -21.181640625, 35.5078125, 126.650390625, 126.38671875, 19.474197387695312 ]
[ 30.05859375, -20.7421875, 32.080078125, 128.84765625, 125.947265625, 19.361276626586914 ]
2.9
87
0
87
0
[ 39.814453125, -20.654296875, 36.123046875, 126.650390625, 126.38671875, 19.474197387695312 ]
[ 32.255859375, -20.7421875, 32.958984375, 128.671875, 125.947265625, 19.361276626586914 ]
2.933333
88
0
88
0
[ 41.30859375, -20.56640625, 36.474609375, 126.650390625, 126.38671875, 19.474197387695312 ]
[ 34.189453125, -20.7421875, 33.92578125, 128.49609375, 125.947265625, 19.461078643798828 ]
2.966667
89
0
89
0
[ 42.1875, -20.478515625, 36.650390625, 126.73828125, 126.38671875, 19.474197387695312 ]
[ 36.2109375, -20.302734375, 34.892578125, 128.408203125, 125.947265625, 19.461078643798828 ]
3
90
0
90
0
[ 42.626953125, -20.478515625, 36.650390625, 127.08984375, 126.38671875, 19.474197387695312 ]
[ 38.232421875, -20.21484375, 35.244140625, 128.408203125, 125.947265625, 19.461078643798828 ]
3.033333
91
0
91
0
[ 42.626953125, -20.478515625, 36.650390625, 127.265625, 126.38671875, 19.474197387695312 ]
[ 39.638671875, -20.21484375, 35.5078125, 128.408203125, 125.947265625, 19.461078643798828 ]
3.066667
92
0
92
0
[ 42.626953125, -20.478515625, 36.650390625, 127.44140625, 126.38671875, 19.474197387695312 ]
[ 40.341796875, -20.21484375, 35.68359375, 128.408203125, 125.947265625, 19.461078643798828 ]
3.1
93
0
93
0
[ 42.626953125, -20.478515625, 36.73828125, 127.44140625, 126.38671875, 19.474197387695312 ]
[ 40.869140625, -20.21484375, 35.68359375, 128.408203125, 125.947265625, 19.461078643798828 ]
3.133333
94
0
94
0
[ 42.626953125, -20.478515625, 36.73828125, 127.44140625, 126.38671875, 19.474197387695312 ]
[ 41.1328125, -20.21484375, 35.68359375, 128.408203125, 125.947265625, 19.461078643798828 ]
3.166667
95
0
95
0
[ 42.626953125, -20.478515625, 36.73828125, 127.44140625, 126.38671875, 19.3768253326416 ]
[ 41.396484375, -20.21484375, 35.68359375, 128.408203125, 125.947265625, 19.461078643798828 ]
3.2
96
0
96
0
[ 42.626953125, -20.478515625, 36.73828125, 127.529296875, 126.38671875, 19.3768253326416 ]
[ 41.484375, -20.21484375, 35.859375, 128.408203125, 125.947265625, 19.461078643798828 ]
3.233333
97
0
97
0
[ 42.626953125, -20.478515625, 36.826171875, 127.529296875, 126.38671875, 19.084712982177734 ]
[ 41.66015625, -20.21484375, 35.859375, 128.408203125, 125.947265625, 19.461078643798828 ]
3.266667
98
0
98
0
[ 42.626953125, -20.478515625, 36.826171875, 127.705078125, 126.38671875, 18.40311622619629 ]
[ 41.66015625, -20.21484375, 35.859375, 128.408203125, 125.947265625, 19.461078643798828 ]
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": 2,
    "total_frames": 1312,
    "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": "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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