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Datasets:
yuz1wan
/
so100_button

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
Libraries:
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Dask
License:
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action
sequence
observation.state
sequence
timestamp
float32
0
11.1
frame_index
int64
0
334
episode_index
int64
0
9
index
int64
0
2.62k
task_index
int64
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73
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[ 0.615234375, 117.59765625, 113.662109375, 71.982421875, -17.05078125, 0 ]
[ -0.263671875, 122.607421875, 123.57421875, 71.982421875, -15.380859375, 0.19723865389823914 ]
2.466667
74
0
74
0
[ 0.703125, 116.015625, 111.9921875, 71.982421875, -17.578125, 0 ]
[ -0.263671875, 120.498046875, 121.904296875, 71.982421875, -15.8203125, 0.19723865389823914 ]
2.5
75
0
75
0
[ 0.703125, 114.609375, 110.234375, 72.509765625, -18.017578125, 0 ]
[ -0.263671875, 118.388671875, 119.970703125, 71.982421875, -16.34765625, 0.19723865389823914 ]
2.533333
76
0
76
0
[ 0.791015625, 113.203125, 108.4765625, 73.30078125, -18.369140625, 0 ]
[ -0.263671875, 116.54296875, 118.388671875, 71.982421875, -16.787109375, 0.19723865389823914 ]
2.566667
77
0
77
0
[ 0.791015625, 111.884765625, 106.806640625, 74.1796875, -18.544921875, 0 ]
[ -0.263671875, 114.873046875, 116.630859375, 72.421875, -17.2265625, 0.19723865389823914 ]
2.6
78
0
78
0
[ 0.87890625, 110.390625, 104.9609375, 75.234375, -18.80859375, 0 ]
[ -0.263671875, 113.115234375, 114.873046875, 72.94921875, -17.490234375, 0.19723865389823914 ]
2.633333
79
0
79
0
[ 0.966796875, 109.072265625, 103.203125, 76.025390625, -19.16015625, 0 ]
[ -0.263671875, 111.533203125, 113.02734375, 73.65234375, -17.666015625, 0.19723865389823914 ]
2.666667
80
0
80
0
[ 0.966796875, 107.75390625, 101.4453125, 76.904296875, -19.3359375, 0 ]
[ -0.263671875, 110.126953125, 111.357421875, 74.443359375, -18.017578125, 0.19723865389823914 ]
2.7
81
0
81
0
[ 0.966796875, 106.5234375, 99.775390625, 77.51953125, -19.599609375, 0 ]
[ -0.263671875, 108.6328125, 109.599609375, 75.234375, -18.45703125, 0.19723865389823914 ]
2.733333
82
0
82
0
[ 0.966796875, 105.46875, 98.017578125, 78.046875, -19.86328125, 0 ]
[ -0.263671875, 107.138671875, 107.841796875, 75.76171875, -18.720703125, 0.19723865389823914 ]
2.766667
83
0
83
0
[ 0.966796875, 104.326171875, 96.259765625, 78.486328125, -20.0390625, 0 ]
[ -0.263671875, 105.908203125, 106.171875, 76.552734375, -18.720703125, 0.19723865389823914 ]
2.8
84
0
84
0
[ 1.0546875, 103.271484375, 94.677734375, 79.1015625, -20.302734375, 0 ]
[ -0.263671875, 104.58984375, 104.58984375, 77.255859375, -18.896484375, 0.19723865389823914 ]
2.833333
85
0
85
0
[ 1.0546875, 102.216796875, 93.0078125, 79.453125, -20.478515625, 0 ]
[ -0.17578125, 103.447265625, 102.83203125, 77.783203125, -19.423828125, 0.19723865389823914 ]
2.866667
86
0
86
0
[ 1.0546875, 101.25, 91.337890625, 79.716796875, -20.56640625, 0 ]
[ -0.087890625, 102.392578125, 101.25, 78.310546875, -19.599609375, 0.19723865389823914 ]
2.9
87
0
87
0
[ 1.0546875, 100.458984375, 89.66796875, 79.98046875, -20.7421875, 0 ]
[ 0.17578125, 101.25, 99.580078125, 78.662109375, -19.775390625, 0.19723865389823914 ]
2.933333
88
0
88
0
[ 1.0546875, 99.755859375, 87.998046875, 79.98046875, -20.830078125, 0 ]
[ 0.263671875, 100.1953125, 97.91015625, 78.75, -19.86328125, 0.19723865389823914 ]
2.966667
89
0
89
0
[ 1.0546875, 98.96484375, 86.328125, 80.15625, -20.830078125, 0 ]
[ 0.3515625, 99.228515625, 96.15234375, 78.75, -19.86328125, 0.19723865389823914 ]
3
90
0
90
0
[ 1.0546875, 98.26171875, 84.482421875, 80.15625, -21.005859375, 0 ]
[ 0.3515625, 98.0859375, 94.39453125, 78.92578125, -19.86328125, 0.19723865389823914 ]
3.033333
91
0
91
0
[ 1.0546875, 97.294921875, 82.900390625, 80.419921875, -21.181640625, 0 ]
[ 0.3515625, 97.3828125, 92.63671875, 79.453125, -20.0390625, 0.19723865389823914 ]
3.066667
92
0
92
0
[ 1.0546875, 96.240234375, 81.23046875, 81.123046875, -21.26953125, 0 ]
[ 0.3515625, 96.767578125, 91.142578125, 79.716796875, -20.390625, 0.19723865389823914 ]
3.1
93
0
93
0
[ 1.0546875, 95.009765625, 79.384765625, 81.826171875, -21.357421875, 0 ]
[ 0.3515625, 95.9765625, 89.296875, 80.068359375, -20.56640625, 0.19723865389823914 ]
3.133333
94
0
94
0
[ 0.87890625, 93.955078125, 77.71484375, 82.6171875, -21.357421875, 0 ]
[ 0.3515625, 95.09765625, 87.626953125, 80.595703125, -20.7421875, 0.19723865389823914 ]
3.166667
95
0
95
0
[ 0.791015625, 92.900390625, 76.044921875, 83.3203125, -21.357421875, 0 ]
[ 0.3515625, 93.955078125, 85.95703125, 80.947265625, -20.7421875, 0.19723865389823914 ]
3.2
96
0
96
0
[ 0.52734375, 91.845703125, 74.19921875, 83.935546875, -21.357421875, 0 ]
[ 0.17578125, 92.4609375, 84.111328125, 81.73828125, -20.7421875, 0.19723865389823914 ]
3.233333
97
0
97
0
[ 0.263671875, 90.791015625, 72.529296875, 84.638671875, -21.26953125, 0 ]
[ 0.087890625, 91.23046875, 82.44140625, 82.353515625, -20.7421875, 0.19723865389823914 ]
3.266667
98
0
98
0
[ -0.087890625, 89.560546875, 71.03515625, 85.60546875, -21.09375, 0 ]
[ 0, 90.087890625, 80.947265625, 82.79296875, -20.7421875, 0.19723865389823914 ]
3.3
99
0
99
0
End of preview. Expand in Dataset Viewer.

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "so100",
    "total_episodes": 10,
    "total_frames": 2624,
    "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": {
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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.wrist": {
            "dtype": "video",
            "shape": [
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            "names": [
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        "observation.images.side": {
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            "shape": [
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                640,
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            "names": [
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                "width",
                "channels"
            ],
            "info": {
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                "video.codec": "av1",
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                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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