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Datasets:
yuz1wan
/
so100_fold_0227_1

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
fold
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
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action
sequence
observation.state
sequence
timestamp
float32
0
40
frame_index
int64
0
1.2k
episode_index
int64
0
14
index
int64
0
7.96k
task_index
int64
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0
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[ 7.119140625, 105.732421875, 110.126953125, 74.53125, 7.91015625, 27.712032318115234 ]
2.433333
73
0
73
0
[ 5.9765625, 102.919921875, 100.634765625, 78.310546875, 11.77734375, 28.368793487548828 ]
[ 6.6796875, 104.853515625, 108.896484375, 75.146484375, 8.349609375, 27.712032318115234 ]
2.466667
74
0
74
0
[ 5.185546875, 102.216796875, 100.1953125, 78.662109375, 13.359375, 28.368793487548828 ]
[ 6.416015625, 103.7109375, 107.490234375, 76.025390625, 8.96484375, 27.712032318115234 ]
2.5
75
0
75
0
[ 4.21875, 101.513671875, 99.931640625, 78.57421875, 15.029296875, 28.368793487548828 ]
[ 6.064453125, 102.392578125, 106.083984375, 76.552734375, 9.755859375, 27.712032318115234 ]
2.533333
76
0
76
0
[ 3.076171875, 100.1953125, 98.96484375, 78.57421875, 16.611328125, 28.368793487548828 ]
[ 5.80078125, 101.6015625, 105.29296875, 76.81640625, 10.810546875, 27.712032318115234 ]
2.566667
77
0
77
0
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[ 5.2734375, 100.72265625, 104.501953125, 77.6953125, 12.392578125, 27.712032318115234 ]
2.6
78
0
78
0
[ 1.0546875, 96.6796875, 96.15234375, 78.662109375, 19.248046875, 28.368793487548828 ]
[ 4.5703125, 99.755859375, 103.53515625, 77.783203125, 13.798828125, 27.712032318115234 ]
2.633333
79
0
79
0
[ 0.615234375, 94.833984375, 94.482421875, 78.662109375, 19.423828125, 28.368793487548828 ]
[ 3.603515625, 98.525390625, 102.48046875, 77.783203125, 14.853515625, 27.712032318115234 ]
2.666667
80
0
80
0
[ 0.3515625, 93.251953125, 92.8125, 78.75, 19.423828125, 28.368793487548828 ]
[ 2.724609375, 96.85546875, 101.42578125, 77.783203125, 16.611328125, 27.712032318115234 ]
2.7
81
0
81
0
[ 0.087890625, 92.021484375, 91.494140625, 79.013671875, 19.775390625, 28.368793487548828 ]
[ 1.7578125, 95.009765625, 100.1953125, 77.783203125, 17.40234375, 27.712032318115234 ]
2.733333
82
0
82
0
[ -0.17578125, 90.966796875, 90.52734375, 79.013671875, 20.0390625, 28.368793487548828 ]
[ 0.87890625, 93.33984375, 98.61328125, 77.783203125, 17.75390625, 27.712032318115234 ]
2.766667
83
0
83
0
[ -0.791015625, 90.263671875, 89.736328125, 79.1015625, 20.56640625, 28.368793487548828 ]
[ 0.439453125, 91.7578125, 97.294921875, 77.783203125, 18.28125, 27.712032318115234 ]
2.8
84
0
84
0
[ -1.40625, 89.736328125, 89.033203125, 79.189453125, 21.26953125, 28.368793487548828 ]
[ 0.263671875, 90.439453125, 96.064453125, 78.046875, 18.80859375, 27.712032318115234 ]
2.833333
85
0
85
0
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[ 0.17578125, 89.560546875, 94.921875, 78.310546875, 19.248046875, 27.712032318115234 ]
2.866667
86
0
86
0
[ -2.021484375, 88.9453125, 87.978515625, 79.27734375, 22.060546875, 28.368793487548828 ]
[ 0.17578125, 88.59375, 94.21875, 78.486328125, 19.86328125, 27.712032318115234 ]
2.9
87
0
87
0
[ -2.373046875, 88.76953125, 87.626953125, 79.453125, 22.8515625, 28.368793487548828 ]
[ -0.087890625, 87.978515625, 93.33984375, 78.837890625, 20.56640625, 27.712032318115234 ]
2.933333
88
0
88
0
[ -2.724609375, 88.505859375, 87.451171875, 79.62890625, 23.818359375, 28.368793487548828 ]
[ -0.439453125, 87.275390625, 92.4609375, 78.92578125, 21.005859375, 27.712032318115234 ]
2.966667
89
0
89
0
[ -3.33984375, 88.154296875, 87.1875, 79.716796875, 25.048828125, 28.368793487548828 ]
[ -0.966796875, 86.8359375, 91.845703125, 78.92578125, 21.26953125, 27.712032318115234 ]
3
90
0
90
0
[ -3.8671875, 87.36328125, 86.66015625, 79.716796875, 26.3671875, 28.368793487548828 ]
[ -1.58203125, 86.572265625, 91.494140625, 78.92578125, 21.884765625, 27.712032318115234 ]
3.033333
91
0
91
0
[ -4.482421875, 86.396484375, 85.869140625, 79.716796875, 27.685546875, 28.368793487548828 ]
[ -2.109375, 86.484375, 91.23046875, 78.92578125, 22.8515625, 27.712032318115234 ]
3.066667
92
0
92
0
[ -5.09765625, 85.078125, 84.814453125, 79.8046875, 28.740234375, 28.368793487548828 ]
[ -2.4609375, 86.30859375, 90.703125, 78.92578125, 23.994140625, 27.712032318115234 ]
3.1
93
0
93
0
[ -5.44921875, 83.84765625, 83.583984375, 79.98046875, 29.443359375, 28.368793487548828 ]
[ -2.8125, 85.517578125, 89.912109375, 78.92578125, 25.048828125, 27.712032318115234 ]
3.133333
94
0
94
0
[ -5.625, 82.353515625, 81.826171875, 80.68359375, 29.619140625, 28.368793487548828 ]
[ -3.33984375, 84.462890625, 88.9453125, 78.92578125, 26.19140625, 27.712032318115234 ]
3.166667
95
0
95
0
[ -5.712890625, 81.123046875, 80.244140625, 81.5625, 29.970703125, 28.368793487548828 ]
[ -3.779296875, 83.14453125, 88.06640625, 78.92578125, 27.24609375, 27.712032318115234 ]
3.2
96
0
96
0
[ -5.888671875, 80.33203125, 79.365234375, 81.9140625, 30.234375, 28.368793487548828 ]
[ -4.306640625, 81.650390625, 87.099609375, 79.013671875, 27.7734375, 27.712032318115234 ]
3.233333
97
0
97
0
[ -5.888671875, 79.98046875, 79.189453125, 81.9140625, 30.41015625, 28.368793487548828 ]
[ -4.658203125, 80.33203125, 85.78125, 79.453125, 28.125, 27.712032318115234 ]
3.266667
98
0
98
0
[ -5.888671875, 79.98046875, 79.189453125, 81.9140625, 30.5859375, 28.368793487548828 ]
[ -4.833984375, 79.27734375, 84.90234375, 80.15625, 28.740234375, 27.712032318115234 ]
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": 15,
    "total_frames": 7963,
    "total_tasks": 1,
    "total_videos": 15,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:15"
    },
    "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.side": {
            "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": "av1",
                "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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License:
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Number of rows:
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