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Datasets:
shylee
/
so100_2cam

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
pengrip
pi0
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
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action
list
observation.state
list
timestamp
float32
0
11.1
frame_index
int64
0
334
episode_index
int64
0
49
index
int64
0
14.7k
task_index
int64
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[ 14.853515625, 83.84765625, 55.107421875, 94.74609375, -22.1484375, 19.212297439575195 ]
[ 13.53515625, 90.703125, 67.236328125, 91.845703125, -22.412109375, 18.893388748168945 ]
2.366667
71
0
71
0
[ 15.1171875, 81.38671875, 52.734375, 95.625, -21.884765625, 19.116233825683594 ]
[ 13.798828125, 88.330078125, 64.599609375, 92.724609375, -22.412109375, 18.96086311340332 ]
2.4
72
0
72
0
[ 15.380859375, 79.013671875, 50.09765625, 96.591796875, -21.62109375, 18.924110412597656 ]
[ 14.23828125, 85.78125, 61.962890625, 93.69140625, -22.412109375, 19.028339385986328 ]
2.433333
73
0
73
0
[ 15.556640625, 76.81640625, 47.4609375, 97.734375, -21.533203125, 18.924110412597656 ]
[ 14.58984375, 83.3203125, 59.4140625, 94.5703125, -22.236328125, 19.028339385986328 ]
2.466667
74
0
74
0
[ 15.556640625, 74.53125, 44.736328125, 98.876953125, -21.62109375, 18.924110412597656 ]
[ 14.853515625, 80.859375, 56.953125, 95.44921875, -21.97265625, 19.028339385986328 ]
2.5
75
0
75
0
[ 15.556640625, 72.333984375, 42.01171875, 99.931640625, -21.62109375, 18.924110412597656 ]
[ 15.029296875, 78.3984375, 54.404296875, 96.50390625, -21.884765625, 19.028339385986328 ]
2.533333
76
0
76
0
[ 15.64453125, 70.224609375, 39.55078125, 100.810546875, -21.708984375, 18.828048706054688 ]
[ 15.205078125, 75.9375, 51.6796875, 97.646484375, -21.884765625, 19.028339385986328 ]
2.566667
77
0
77
0
[ 15.732421875, 68.73046875, 38.056640625, 101.07421875, -21.708984375, 18.73198890686035 ]
[ 15.205078125, 73.65234375, 49.04296875, 98.701171875, -21.884765625, 19.028339385986328 ]
2.6
78
0
78
0
[ 15.8203125, 67.587890625, 37.08984375, 101.07421875, -21.708984375, 18.73198890686035 ]
[ 15.205078125, 71.3671875, 46.494140625, 99.580078125, -21.884765625, 19.028339385986328 ]
2.633333
79
0
79
0
[ 15.8203125, 66.62109375, 36.38671875, 101.07421875, -21.708984375, 18.635927200317383 ]
[ 15.205078125, 69.43359375, 44.296875, 100.107421875, -21.884765625, 19.028339385986328 ]
2.666667
80
0
80
0
[ 15.8203125, 65.7421875, 35.947265625, 101.07421875, -21.796875, 18.73198890686035 ]
[ 15.205078125, 67.8515625, 42.626953125, 100.37109375, -21.884765625, 19.028339385986328 ]
2.7
81
0
81
0
[ 15.8203125, 64.599609375, 35.15625, 101.162109375, -21.796875, 18.73198890686035 ]
[ 15.205078125, 66.62109375, 41.484375, 100.634765625, -21.884765625, 19.028339385986328 ]
2.733333
82
0
82
0
[ 15.99609375, 62.841796875, 33.662109375, 101.42578125, -21.533203125, 18.73198890686035 ]
[ 15.205078125, 65.478515625, 40.60546875, 100.634765625, -21.884765625, 19.028339385986328 ]
2.766667
83
0
83
0
[ 16.171875, 60.908203125, 32.16796875, 101.42578125, -21.4453125, 18.828048706054688 ]
[ 15.29296875, 64.16015625, 39.638671875, 100.986328125, -21.884765625, 19.028339385986328 ]
2.8
84
0
84
0
[ 16.34765625, 59.0625, 30.849609375, 101.513671875, -21.533203125, 18.828048706054688 ]
[ 15.380859375, 62.75390625, 38.49609375, 101.162109375, -21.884765625, 19.028339385986328 ]
2.833333
85
0
85
0
[ 16.435546875, 57.48046875, 30.05859375, 101.513671875, -21.62109375, 18.924110412597656 ]
[ 15.556640625, 60.99609375, 36.826171875, 101.162109375, -21.884765625, 19.028339385986328 ]
2.866667
86
0
86
0
[ 16.435546875, 56.162109375, 29.443359375, 101.513671875, -21.796875, 18.924110412597656 ]
[ 15.732421875, 59.150390625, 35.595703125, 101.162109375, -21.884765625, 19.028339385986328 ]
2.9
87
0
87
0
[ 16.435546875, 54.931640625, 28.828125, 101.513671875, -21.884765625, 18.924110412597656 ]
[ 15.908203125, 57.48046875, 34.541015625, 101.162109375, -21.884765625, 19.028339385986328 ]
2.933333
88
0
88
0
[ 16.259765625, 53.701171875, 28.037109375, 101.513671875, -21.884765625, 18.924110412597656 ]
[ 15.99609375, 55.8984375, 33.75, 101.162109375, -21.884765625, 19.028339385986328 ]
2.966667
89
0
89
0
[ 16.171875, 52.55859375, 27.158203125, 101.513671875, -21.97265625, 18.828048706054688 ]
[ 15.99609375, 54.580078125, 33.046875, 101.162109375, -21.884765625, 19.028339385986328 ]
3
90
0
90
0
[ 15.99609375, 51.50390625, 26.19140625, 101.513671875, -21.97265625, 18.828048706054688 ]
[ 15.99609375, 53.173828125, 32.34375, 101.162109375, -21.884765625, 19.028339385986328 ]
3.033333
91
0
91
0
[ 15.732421875, 50.361328125, 25.3125, 101.513671875, -22.1484375, 18.828048706054688 ]
[ 15.99609375, 52.20703125, 31.552734375, 101.162109375, -21.884765625, 19.028339385986328 ]
3.066667
92
0
92
0
[ 15.46875, 49.39453125, 24.521484375, 101.513671875, -22.32421875, 18.828048706054688 ]
[ 15.908203125, 50.9765625, 30.5859375, 101.162109375, -21.884765625, 19.028339385986328 ]
3.1
93
0
93
0
[ 15.29296875, 48.427734375, 23.818359375, 101.513671875, -22.412109375, 18.828048706054688 ]
[ 15.908203125, 49.921875, 29.70703125, 101.162109375, -21.884765625, 19.028339385986328 ]
3.133333
94
0
94
0
[ 15.029296875, 47.548828125, 23.203125, 101.513671875, -22.5, 18.73198890686035 ]
[ 15.99609375, 48.8671875, 28.65234375, 101.162109375, -21.884765625, 19.028339385986328 ]
3.166667
95
0
95
0
[ 14.765625, 46.845703125, 22.763671875, 101.513671875, -22.5, 18.73198890686035 ]
[ 15.99609375, 47.900390625, 27.94921875, 101.162109375, -22.060546875, 19.028339385986328 ]
3.2
96
0
96
0
[ 14.58984375, 46.142578125, 22.412109375, 101.513671875, -22.5, 18.635927200317383 ]
[ 15.8203125, 46.845703125, 27.158203125, 101.162109375, -22.1484375, 19.028339385986328 ]
3.233333
97
0
97
0
[ 14.326171875, 45.439453125, 22.236328125, 101.513671875, -22.412109375, 18.635927200317383 ]
[ 15.556640625, 46.23046875, 26.630859375, 101.162109375, -22.236328125, 19.028339385986328 ]
3.266667
98
0
98
0
[ 14.150390625, 44.736328125, 22.060546875, 101.513671875, -22.32421875, 18.635927200317383 ]
[ 15.205078125, 45.52734375, 26.54296875, 101.162109375, -22.236328125, 19.028339385986328 ]
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": 50,
    "total_frames": 14694,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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": [
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            "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.front": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
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                "width",
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            "info": {
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                "video.pix_fmt": "yuv420p",
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                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.wrist": {
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            "shape": [
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                640,
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            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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                1
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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            "names": null
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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