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Datasets:
Cidoyi
/
so100_15

Tasks:
Robotics
Modalities:
Tabular
Time-series
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< 1K
Tags:
LeRobot
so100
tutorial
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pandas
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action
sequence
observation.state
sequence
timestamp
float32
0
8.4
frame_index
int64
0
252
episode_index
int64
0
0
index
int64
0
252
task_index
int64
0
0
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73
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[ -0.263671875, 121.201171875, 160.13671875, -60.29296875, 179.560546875, 99.17431640625 ]
[ 0, 120.146484375, 162.685546875, -58.7109375, 178.857421875, 99.31271362304688 ]
2.466667
74
0
74
0
[ -0.087890625, 121.376953125, 160.3125, -60.29296875, 179.560546875, 99.17431640625 ]
[ 0, 120.146484375, 162.685546875, -58.7109375, 178.857421875, 99.31271362304688 ]
2.5
75
0
75
0
[ 0, 121.640625, 160.400390625, -60.29296875, 179.560546875, 99.17431640625 ]
[ 0, 120.146484375, 162.685546875, -58.7109375, 178.857421875, 99.31271362304688 ]
2.533333
76
0
76
0
[ 0.17578125, 121.81640625, 160.6640625, -60.29296875, 179.560546875, 99.17431640625 ]
[ 0, 120.146484375, 162.685546875, -58.7109375, 178.857421875, 99.31271362304688 ]
2.566667
77
0
77
0
[ 0.3515625, 121.9921875, 160.83984375, -60.29296875, 179.560546875, 99.17431640625 ]
[ 0, 120.146484375, 162.685546875, -58.7109375, 178.857421875, 99.31271362304688 ]
2.6
78
0
78
0
[ 0.52734375, 122.255859375, 160.927734375, -60.29296875, 179.560546875, 99.17431640625 ]
[ 0, 120.146484375, 162.685546875, -58.7109375, 178.857421875, 99.31271362304688 ]
2.633333
79
0
79
0
[ 0.615234375, 122.431640625, 161.19140625, -60.29296875, 179.6484375, 99.17431640625 ]
[ 0, 120.146484375, 162.685546875, -58.7109375, 178.857421875, 99.31271362304688 ]
2.666667
80
0
80
0
[ 0.703125, 122.607421875, 161.3671875, -60.29296875, 179.6484375, 99.17431640625 ]
[ 0, 120.146484375, 162.685546875, -58.7109375, 178.857421875, 99.31271362304688 ]
2.7
81
0
81
0
[ 0.703125, 122.783203125, 161.455078125, -60.205078125, 179.6484375, 99.17431640625 ]
[ 0, 120.146484375, 162.685546875, -58.7109375, 178.857421875, 99.31271362304688 ]
2.733333
82
0
82
0
[ 0.791015625, 122.87109375, 161.54296875, -60.205078125, 179.6484375, 99.17431640625 ]
[ 0, 120.146484375, 162.685546875, -58.7109375, 178.857421875, 99.31271362304688 ]
2.766667
83
0
83
0
[ 0.87890625, 122.958984375, 161.630859375, -60.1171875, 179.6484375, 99.17431640625 ]
[ 0, 120.234375, 162.685546875, -58.7109375, 178.857421875, 99.31271362304688 ]
2.8
84
0
84
0
[ 1.142578125, 123.134765625, 161.630859375, -60.1171875, 179.6484375, 99.17431640625 ]
[ 0.17578125, 120.234375, 162.685546875, -58.7109375, 178.857421875, 99.31271362304688 ]
2.833333
85
0
85
0
[ 1.40625, 123.310546875, 161.630859375, -60.029296875, 179.6484375, 99.17431640625 ]
[ 0.52734375, 120.234375, 162.7734375, -58.7109375, 178.857421875, 99.31271362304688 ]
2.866667
86
0
86
0
[ 1.669921875, 123.486328125, 161.71875, -59.853515625, 179.736328125, 99.17431640625 ]
[ 0.966796875, 120.234375, 162.7734375, -58.7109375, 178.857421875, 99.31271362304688 ]
2.9
87
0
87
0
[ 1.93359375, 123.57421875, 161.71875, -59.765625, 179.82421875, 99.17431640625 ]
[ 1.318359375, 120.234375, 162.7734375, -58.7109375, 178.857421875, 99.31271362304688 ]
2.933333
88
0
88
0
[ 2.109375, 123.662109375, 161.806640625, -59.765625, 179.82421875, 99.17431640625 ]
[ 1.494140625, 120.234375, 162.7734375, -58.7109375, 179.033203125, 99.31271362304688 ]
2.966667
89
0
89
0
[ 2.021484375, 123.75, 161.982421875, -59.765625, 179.82421875, 99.17431640625 ]
[ 1.845703125, 120.234375, 162.7734375, -58.7109375, 179.560546875, 99.31271362304688 ]
3
90
0
90
0
[ 1.93359375, 123.75, 161.982421875, -59.765625, 179.82421875, 99.17431640625 ]
[ 1.845703125, 120.234375, 162.7734375, -58.7109375, 179.560546875, 99.31271362304688 ]
3.033333
91
0
91
0
[ 1.93359375, 123.662109375, 161.982421875, -59.765625, 179.82421875, 99.17431640625 ]
[ 1.845703125, 120.41015625, 162.7734375, -58.7109375, 179.560546875, 99.31271362304688 ]
3.066667
92
0
92
0
[ 1.93359375, 123.662109375, 161.982421875, -59.765625, 179.82421875, 99.17431640625 ]
[ 1.845703125, 120.498046875, 162.7734375, -58.7109375, 179.560546875, 99.31271362304688 ]
3.1
93
0
93
0
[ 1.93359375, 123.57421875, 161.982421875, -59.765625, 179.82421875, 99.17431640625 ]
[ 1.845703125, 120.673828125, 162.7734375, -58.7109375, 179.560546875, 99.31271362304688 ]
3.133333
94
0
94
0
[ 1.845703125, 123.57421875, 161.982421875, -59.765625, 179.82421875, 99.17431640625 ]
[ 1.845703125, 120.76171875, 162.7734375, -58.7109375, 179.560546875, 99.31271362304688 ]
3.166667
95
0
95
0
[ 1.845703125, 123.3984375, 161.982421875, -59.677734375, 179.82421875, 99.17431640625 ]
[ 1.845703125, 120.76171875, 162.7734375, -58.7109375, 179.560546875, 99.31271362304688 ]
3.2
96
0
96
0
[ 1.845703125, 123.310546875, 161.982421875, -59.677734375, 179.82421875, 99.17431640625 ]
[ 1.845703125, 120.76171875, 162.7734375, -58.7109375, 179.560546875, 99.31271362304688 ]
3.233333
97
0
97
0
[ 1.845703125, 123.046875, 162.0703125, -59.677734375, 179.912109375, 99.17431640625 ]
[ 1.845703125, 120.76171875, 162.7734375, -58.7109375, 179.560546875, 99.31271362304688 ]
3.266667
98
0
98
0
[ 1.845703125, 122.783203125, 162.158203125, -59.853515625, 179.912109375, 99.17431640625 ]
[ 1.845703125, 120.76171875, 162.7734375, -58.7109375, 179.560546875, 99.31271362304688 ]
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": 1,
    "total_frames": 253,
    "total_tasks": 1,
    "total_videos": 1,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "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.keyboard_camera": {
            "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": "h264",
                "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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