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Datasets:
shylee
/
so100_testpi0data

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
pengrip
pi0
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
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float32
0
9.73
frame_index
int64
0
292
episode_index
int64
0
9
index
int64
0
2.65k
task_index
int64
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[ 29.443359375, 103.0078125, 76.640625, 88.06640625, -7.734375, 15.561959266662598 ]
[ 28.564453125, 107.75390625, 85.4296875, 86.044921875, -5.625, 13.900135040283203 ]
2.4
72
0
72
0
[ 29.70703125, 101.337890625, 74.970703125, 88.505859375, -8.173828125, 15.946205139160156 ]
[ 28.740234375, 106.171875, 83.759765625, 86.748046875, -6.240234375, 14.439946174621582 ]
2.433333
73
0
73
0
[ 29.970703125, 99.580078125, 73.30078125, 89.033203125, -8.61328125, 16.426511764526367 ]
[ 29.00390625, 104.501953125, 82.001953125, 87.36328125, -6.943359375, 14.979757308959961 ]
2.466667
74
0
74
0
[ 30.146484375, 97.646484375, 71.630859375, 89.560546875, -9.052734375, 16.810758590698242 ]
[ 29.1796875, 102.744140625, 80.33203125, 87.978515625, -7.294921875, 15.384615898132324 ]
2.5
75
0
75
0
[ 30.234375, 95.625, 69.521484375, 90.263671875, -9.4921875, 17.00288200378418 ]
[ 29.443359375, 100.8984375, 78.57421875, 88.41796875, -7.822265625, 15.789472579956055 ]
2.533333
76
0
76
0
[ 30.41015625, 93.603515625, 67.236328125, 91.23046875, -10.01953125, 17.195003509521484 ]
[ 29.619140625, 99.140625, 76.904296875, 89.033203125, -8.349609375, 16.194332122802734 ]
2.566667
77
0
77
0
[ 30.5859375, 91.7578125, 65.126953125, 91.93359375, -10.546875, 17.387126922607422 ]
[ 29.70703125, 97.294921875, 75.05859375, 89.6484375, -8.7890625, 16.531713485717773 ]
2.6
78
0
78
0
[ 30.673828125, 90.3515625, 63.369140625, 92.197265625, -11.162109375, 17.387126922607422 ]
[ 29.8828125, 95.361328125, 73.037109375, 90.3515625, -9.228515625, 16.734142303466797 ]
2.633333
79
0
79
0
[ 30.76171875, 88.9453125, 61.787109375, 92.373046875, -11.77734375, 17.387126922607422 ]
[ 30.05859375, 93.427734375, 71.103515625, 91.142578125, -9.755859375, 17.00404930114746 ]
2.666667
80
0
80
0
[ 30.849609375, 87.36328125, 60.380859375, 92.63671875, -12.3046875, 17.387126922607422 ]
[ 30.146484375, 91.58203125, 69.08203125, 91.58203125, -10.37109375, 17.071523666381836 ]
2.7
81
0
81
0
[ 30.9375, 85.869140625, 59.0625, 92.8125, -12.83203125, 17.387126922607422 ]
[ 30.146484375, 90, 67.236328125, 91.93359375, -10.986328125, 17.139001846313477 ]
2.733333
82
0
82
0
[ 30.9375, 84.111328125, 57.744140625, 93.251953125, -13.447265625, 17.387126922607422 ]
[ 30.234375, 88.330078125, 65.654296875, 92.28515625, -11.513671875, 17.139001846313477 ]
2.766667
83
0
83
0
[ 31.11328125, 82.529296875, 56.513671875, 93.515625, -13.88671875, 17.387126922607422 ]
[ 30.322265625, 86.8359375, 64.072265625, 92.548828125, -12.041015625, 17.139001846313477 ]
2.8
84
0
84
0
[ 31.2890625, 81.03515625, 55.634765625, 93.603515625, -14.23828125, 17.387126922607422 ]
[ 30.322265625, 85.166015625, 62.666015625, 92.900390625, -12.568359375, 17.139001846313477 ]
2.833333
85
0
85
0
[ 31.46484375, 79.541015625, 54.755859375, 93.603515625, -14.765625, 17.483190536499023 ]
[ 30.498046875, 83.49609375, 61.259765625, 93.1640625, -13.095703125, 17.139001846313477 ]
2.866667
86
0
86
0
[ 31.640625, 78.134765625, 53.7890625, 93.69140625, -15.029296875, 17.675312042236328 ]
[ 30.76171875, 81.73828125, 60.029296875, 93.251953125, -13.53515625, 17.139001846313477 ]
2.9
87
0
87
0
[ 31.640625, 76.728515625, 52.91015625, 93.779296875, -15.46875, 17.867435455322266 ]
[ 30.9375, 80.068359375, 59.150390625, 93.33984375, -13.974609375, 17.139001846313477 ]
2.933333
88
0
88
0
[ 31.640625, 75.41015625, 52.20703125, 93.779296875, -15.99609375, 18.05955696105957 ]
[ 31.11328125, 78.3984375, 58.18359375, 93.427734375, -14.4140625, 17.3414306640625 ]
2.966667
89
0
89
0
[ 31.640625, 74.091796875, 51.591796875, 93.779296875, -16.435546875, 18.15561866760254 ]
[ 31.2890625, 76.9921875, 57.3046875, 93.515625, -14.853515625, 17.543859481811523 ]
3
90
0
90
0
[ 31.640625, 72.7734375, 51.064453125, 93.779296875, -16.69921875, 18.15561866760254 ]
[ 31.2890625, 75.5859375, 56.42578125, 93.603515625, -15.29296875, 17.746288299560547 ]
3.033333
91
0
91
0
[ 31.640625, 71.19140625, 50.185546875, 93.955078125, -16.962890625, 18.443803787231445 ]
[ 31.2890625, 74.1796875, 55.72265625, 93.603515625, -15.732421875, 17.881240844726562 ]
3.066667
92
0
92
0
[ 31.640625, 69.43359375, 48.8671875, 94.39453125, -17.138671875, 18.539865493774414 ]
[ 31.2890625, 72.861328125, 55.107421875, 93.603515625, -16.083984375, 17.948719024658203 ]
3.1
93
0
93
0
[ 31.552734375, 67.587890625, 47.28515625, 95.009765625, -17.314453125, 18.539865493774414 ]
[ 31.2890625, 71.455078125, 54.228515625, 93.8671875, -16.435546875, 18.08367156982422 ]
3.133333
94
0
94
0
[ 31.2890625, 65.654296875, 45.439453125, 95.80078125, -17.666015625, 18.73198890686035 ]
[ 31.2890625, 69.697265625, 53.0859375, 94.130859375, -16.69921875, 18.286100387573242 ]
3.166667
95
0
95
0
[ 30.9375, 63.720703125, 43.59375, 96.6796875, -17.841796875, 18.828048706054688 ]
[ 31.2890625, 67.8515625, 51.767578125, 94.5703125, -16.875, 18.286100387573242 ]
3.2
96
0
96
0
[ 30.5859375, 61.875, 41.748046875, 97.470703125, -17.9296875, 18.924110412597656 ]
[ 31.2890625, 66.09375, 50.2734375, 95.185546875, -17.2265625, 18.488529205322266 ]
3.233333
97
0
97
0
[ 30.322265625, 60.29296875, 40.078125, 98.173828125, -18.017578125, 18.924110412597656 ]
[ 31.11328125, 64.16015625, 48.603515625, 95.9765625, -17.40234375, 18.62348175048828 ]
3.266667
98
0
98
0
[ 30.234375, 59.0625, 38.84765625, 98.701171875, -18.017578125, 19.116233825683594 ]
[ 30.9375, 62.314453125, 46.845703125, 96.591796875, -17.578125, 18.69095802307129 ]
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": 10,
    "total_frames": 2648,
    "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": [
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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.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.wrist": {
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            "shape": [
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                640,
                3
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            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "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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Size of downloaded dataset files:
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Number of rows:
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