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Datasets:
yuz1wan
/
so100_pour_cup

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
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Dask
License:
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action
sequence
observation.state
sequence
timestamp
float32
0
11.7
frame_index
int64
0
350
episode_index
int64
0
9
index
int64
0
3.14k
task_index
int64
0
0
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[ 5.009765625, 137.021484375, 120.849609375, 75.76171875, -12.041015625, 0 ]
[ 4.5703125, 143.96484375, 132.1875, 76.2890625, -10.1953125, 0.6903353333473206 ]
2.5
75
0
75
0
[ 5.009765625, 133.154296875, 117.333984375, 75.76171875, -12.744140625, 0 ]
[ 4.5703125, 141.943359375, 130.60546875, 76.2890625, -10.546875, 0.6903353333473206 ]
2.533333
76
0
76
0
[ 4.74609375, 129.287109375, 113.466796875, 76.2890625, -13.271484375, 0 ]
[ 4.5703125, 139.39453125, 128.84765625, 76.2890625, -10.986328125, 0.6903353333473206 ]
2.566667
77
0
77
0
[ 4.74609375, 125.5078125, 109.3359375, 77.34375, -13.798828125, 0 ]
[ 4.5703125, 136.40625, 126.650390625, 76.2890625, -11.42578125, 0.6903353333473206 ]
2.6
78
0
78
0
[ 4.39453125, 122.080078125, 105.380859375, 78.486328125, -14.150390625, 0 ]
[ 4.21875, 132.978515625, 124.1015625, 76.640625, -11.953125, 0.6903353333473206 ]
2.633333
79
0
79
0
[ 4.21875, 119.00390625, 101.6015625, 79.8046875, -14.326171875, 0 ]
[ 4.130859375, 129.462890625, 121.2890625, 77.16796875, -12.392578125, 0.6903353333473206 ]
2.666667
80
0
80
0
[ 4.21875, 116.103515625, 98.173828125, 81.298828125, -14.58984375, 0 ]
[ 4.04296875, 126.123046875, 118.212890625, 77.783203125, -12.919921875, 0.6903353333473206 ]
2.7
81
0
81
0
[ 4.21875, 113.90625, 95.361328125, 82.44140625, -14.94140625, 0 ]
[ 4.04296875, 122.783203125, 114.697265625, 78.57421875, -13.271484375, 0.6903353333473206 ]
2.733333
82
0
82
0
[ 4.21875, 112.1484375, 93.1640625, 83.3203125, -15.1171875, 0 ]
[ 4.04296875, 119.35546875, 111.181640625, 79.8046875, -13.53515625, 0.6903353333473206 ]
2.766667
83
0
83
0
[ 4.306640625, 111.005859375, 91.7578125, 83.759765625, -15.1171875, 0 ]
[ 4.04296875, 116.455078125, 107.75390625, 80.859375, -13.798828125, 0.6903353333473206 ]
2.8
84
0
84
0
[ 4.306640625, 110.390625, 90.87890625, 83.84765625, -15.205078125, 0 ]
[ 4.04296875, 114.08203125, 104.58984375, 81.73828125, -14.150390625, 0.6903353333473206 ]
2.833333
85
0
85
0
[ 4.39453125, 109.951171875, 90.263671875, 83.935546875, -15.205078125, 0 ]
[ 4.04296875, 112.1484375, 101.865234375, 82.265625, -14.501953125, 0.6903353333473206 ]
2.866667
86
0
86
0
[ 4.39453125, 109.51171875, 89.560546875, 84.375, -15.29296875, 0 ]
[ 4.04296875, 110.56640625, 99.580078125, 82.6171875, -14.677734375, 0.6903353333473206 ]
2.9
87
0
87
0
[ 4.482421875, 108.896484375, 88.681640625, 85.341796875, -15.29296875, 0 ]
[ 4.04296875, 109.423828125, 97.91015625, 82.96875, -14.677734375, 0.6903353333473206 ]
2.933333
88
0
88
0
[ 4.482421875, 108.369140625, 87.978515625, 85.869140625, -15.29296875, 0 ]
[ 4.04296875, 108.544921875, 96.50390625, 83.671875, -14.677734375, 0.6903353333473206 ]
2.966667
89
0
89
0
[ 4.482421875, 107.9296875, 87.5390625, 86.220703125, -15.29296875, 0 ]
[ 4.04296875, 107.841796875, 95.2734375, 84.287109375, -14.677734375, 0.6903353333473206 ]
3
90
0
90
0
[ 4.482421875, 107.2265625, 86.748046875, 86.748046875, -15.29296875, 0 ]
[ 4.04296875, 107.2265625, 94.21875, 84.814453125, -14.677734375, 0.6903353333473206 ]
3.033333
91
0
91
0
[ 4.39453125, 106.435546875, 85.95703125, 87.451171875, -15.205078125, 0 ]
[ 4.04296875, 106.69921875, 93.33984375, 85.341796875, -14.677734375, 0.6903353333473206 ]
3.066667
92
0
92
0
[ 4.306640625, 105.46875, 85.166015625, 87.890625, -15.205078125, 0 ]
[ 4.04296875, 106.083984375, 92.4609375, 85.869140625, -14.677734375, 0.6903353333473206 ]
3.1
93
0
93
0
[ 4.306640625, 104.58984375, 84.462890625, 88.154296875, -15.205078125, 0 ]
[ 4.04296875, 105.380859375, 91.58203125, 86.396484375, -14.677734375, 0.6903353333473206 ]
3.133333
94
0
94
0
[ 4.21875, 103.7109375, 83.935546875, 88.41796875, -15.205078125, 0 ]
[ 4.04296875, 104.326171875, 90.703125, 86.8359375, -14.677734375, 0.6903353333473206 ]
3.166667
95
0
95
0
[ 4.21875, 102.744140625, 83.14453125, 88.681640625, -15.29296875, 0 ]
[ 4.04296875, 103.359375, 90, 87.36328125, -14.677734375, 0.6903353333473206 ]
3.2
96
0
96
0
[ 4.21875, 101.6015625, 82.001953125, 89.12109375, -15.556640625, 0 ]
[ 4.04296875, 102.3046875, 89.296875, 87.71484375, -14.677734375, 0.6903353333473206 ]
3.233333
97
0
97
0
[ 4.130859375, 100.546875, 80.859375, 89.560546875, -15.8203125, 0 ]
[ 4.04296875, 101.25, 88.681640625, 87.978515625, -14.677734375, 0.6903353333473206 ]
3.266667
98
0
98
0
[ 4.04296875, 99.4921875, 79.716796875, 89.736328125, -15.99609375, 0 ]
[ 4.04296875, 100.283203125, 88.06640625, 88.41796875, -14.677734375, 0.6903353333473206 ]
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": 3139,
    "total_tasks": 1,
    "total_videos": 20,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:10"
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    "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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                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
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        },
        "observation.images.wrist": {
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        "timestamp": {
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            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
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        "episode_index": {
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        "index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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