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Datasets:
sihyun77
/
si_so100

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
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
0
15.3
frame_index
int64
0
459
episode_index
int64
0
49
index
int64
0
15.1k
task_index
int64
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0
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0
[ 32.51953125, 78.3984375, 99.052734375, 85.341796875, -142.55859375, 12.084870338439941 ]
[ 30.41015625, 74.8828125, 90.703125, 86.66015625, -110.302734375, 7.230769157409668 ]
2.4
72
0
72
0
[ 33.22265625, 79.8046875, 100.01953125, 84.55078125, -143.349609375, 12.361623764038086 ]
[ 30.849609375, 76.728515625, 92.197265625, 86.1328125, -110.302734375, 8.923076629638672 ]
2.433333
73
0
73
0
[ 33.662109375, 81.03515625, 100.1953125, 83.14453125, -143.525390625, 14.298893928527832 ]
[ 31.201171875, 78.134765625, 93.427734375, 85.693359375, -110.302734375, 10 ]
2.466667
74
0
74
0
[ 34.013671875, 82.177734375, 100.1953125, 81.650390625, -143.525390625, 14.575645446777344 ]
[ 31.728515625, 79.541015625, 94.39453125, 84.90234375, -110.302734375, 10.769230842590332 ]
2.5
75
0
75
0
[ 34.189453125, 83.232421875, 100.1953125, 80.15625, -143.349609375, 15.313653945922852 ]
[ 32.255859375, 80.859375, 95.09765625, 83.84765625, -110.302734375, 11.615384101867676 ]
2.533333
76
0
76
0
[ 34.365234375, 84.111328125, 100.283203125, 79.013671875, -143.173828125, 16.605165481567383 ]
[ 32.87109375, 82.08984375, 95.44921875, 82.705078125, -110.302734375, 12.538461685180664 ]
2.566667
77
0
77
0
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[ 33.57421875, 83.3203125, 95.625, 81.5625, -110.302734375, 13.461539268493652 ]
2.6
78
0
78
0
[ 34.453125, 86.1328125, 101.6015625, 78.134765625, -142.91015625, 18.911439895629883 ]
[ 33.662109375, 84.0234375, 95.625, 80.419921875, -110.302734375, 14.461538314819336 ]
2.633333
79
0
79
0
[ 34.453125, 87.099609375, 102.216796875, 77.783203125, -142.91015625, 21.12546157836914 ]
[ 33.75, 84.90234375, 95.712890625, 79.62890625, -110.302734375, 15.30769157409668 ]
2.666667
80
0
80
0
[ 34.62890625, 87.978515625, 102.568359375, 77.16796875, -143.0859375, 22.047971725463867 ]
[ 33.57421875, 86.044921875, 96.50390625, 79.013671875, -110.302734375, 16.30769157409668 ]
2.7
81
0
81
0
[ 34.716796875, 88.857421875, 102.568359375, 76.46484375, -143.26171875, 23.24723243713379 ]
[ 33.22265625, 87.01171875, 97.119140625, 78.310546875, -110.302734375, 17.384614944458008 ]
2.733333
82
0
82
0
[ 34.716796875, 89.560546875, 102.744140625, 75.849609375, -143.26171875, 23.523984909057617 ]
[ 33.22265625, 87.802734375, 97.3828125, 77.6953125, -110.302734375, 19 ]
2.766667
83
0
83
0
[ 34.541015625, 90.439453125, 103.271484375, 75.498046875, -142.734375, 25.369003295898438 ]
[ 33.22265625, 88.59375, 97.646484375, 76.9921875, -110.302734375, 20.461538314819336 ]
2.8
84
0
84
0
[ 34.365234375, 91.318359375, 103.974609375, 75.234375, -142.470703125, 25.645755767822266 ]
[ 33.22265625, 89.6484375, 97.998046875, 76.376953125, -110.302734375, 21.538461685180664 ]
2.833333
85
0
85
0
[ 34.27734375, 92.28515625, 104.677734375, 74.970703125, -142.3828125, 28.874536514282227 ]
[ 33.310546875, 90.703125, 98.4375, 75.9375, -110.302734375, 22.461538314819336 ]
2.866667
86
0
86
0
[ 34.1015625, 93.251953125, 105.46875, 74.70703125, -142.119140625, 29.612546920776367 ]
[ 33.310546875, 91.669921875, 98.701171875, 75.5859375, -110.302734375, 23.384614944458008 ]
2.9
87
0
87
0
[ 34.1015625, 94.482421875, 106.34765625, 74.443359375, -141.943359375, 29.612546920776367 ]
[ 33.310546875, 92.724609375, 99.404296875, 75.05859375, -110.302734375, 24.461538314819336 ]
2.933333
88
0
88
0
[ 34.1015625, 95.625, 106.962890625, 73.916015625, -141.943359375, 29.612546920776367 ]
[ 33.310546875, 93.8671875, 100.1953125, 74.794921875, -110.302734375, 26 ]
2.966667
89
0
89
0
[ 34.27734375, 96.50390625, 107.138671875, 73.037109375, -142.3828125, 29.612546920776367 ]
[ 33.22265625, 94.833984375, 100.8984375, 74.443359375, -110.302734375, 27.076923370361328 ]
3
90
0
90
0
[ 34.453125, 97.3828125, 107.40234375, 72.421875, -142.91015625, 29.612546920776367 ]
[ 33.22265625, 95.80078125, 101.6015625, 74.00390625, -110.302734375, 27.69230842590332 ]
3.033333
91
0
91
0
[ 34.8046875, 100.01953125, 109.423828125, 72.333984375, -145.37109375, 29.612546920776367 ]
[ 33.22265625, 97.998046875, 102.65625, 72.7734375, -110.302734375, 28.615385055541992 ]
3.066667
92
0
92
0
[ 34.8046875, 100.986328125, 110.390625, 72.421875, -145.986328125, 29.428043365478516 ]
[ 33.22265625, 98.525390625, 103.0078125, 72.685546875, -110.302734375, 28.69230842590332 ]
3.1
93
0
93
0
[ 34.62890625, 101.42578125, 110.7421875, 72.333984375, -146.42578125, 29.428043365478516 ]
[ 33.22265625, 99.755859375, 104.150390625, 72.59765625, -110.390625, 28.69230842590332 ]
3.133333
94
0
94
0
[ 34.541015625, 101.689453125, 111.005859375, 72.158203125, -146.865234375, 29.428043365478516 ]
[ 33.22265625, 100.72265625, 104.853515625, 72.59765625, -110.302734375, 28.69230842590332 ]
3.166667
95
0
95
0
[ 34.365234375, 101.689453125, 111.09375, 71.806640625, -146.953125, 29.428043365478516 ]
[ 33.22265625, 101.6015625, 105.46875, 72.59765625, -110.302734375, 28.69230842590332 ]
3.2
96
0
96
0
[ 34.189453125, 101.689453125, 111.09375, 71.630859375, -146.77734375, 29.428043365478516 ]
[ 33.22265625, 102.041015625, 105.99609375, 72.421875, -110.302734375, 28.69230842590332 ]
3.233333
97
0
97
0
[ 34.1015625, 101.689453125, 111.09375, 71.3671875, -146.42578125, 29.428043365478516 ]
[ 33.22265625, 102.12890625, 106.259765625, 71.982421875, -110.390625, 28.69230842590332 ]
3.266667
98
0
98
0
[ 34.013671875, 101.689453125, 111.09375, 71.103515625, -145.634765625, 29.428043365478516 ]
[ 33.22265625, 102.12890625, 106.435546875, 71.71875, -110.390625, 28.69230842590332 ]
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": 15148,
    "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": {
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            "names": [
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                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
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            "shape": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.laptop": {
            "dtype": "video",
            "shape": [
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        "observation.images.phone": {
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            "info": {
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        "timestamp": {
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            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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        "index": {
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        }
    }
}

Citation

BibTeX:

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License:
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