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DYH-trans
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DP_so100_test

Tasks:
Robotics
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Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
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action
sequence
observation.state
sequence
timestamp
float32
0
14.1
frame_index
int64
0
352
episode_index
int64
0
9
index
int64
0
3.12k
task_index
int64
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71
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[ 1.0546875, 95.625, 114.08203125, -8.7890625, -97.91015625, -0.10362694412469864 ]
[ -1.0546875, 92.8125, 115.927734375, -7.998046875, -95.2734375, 20.673812866210938 ]
2.88
72
0
72
0
[ 1.845703125, 94.658203125, 114.08203125, -8.7890625, -98.61328125, -0.20725388824939728 ]
[ -0.615234375, 92.8125, 115.83984375, -7.998046875, -95.9765625, 20.673812866210938 ]
2.92
73
0
73
0
[ 2.724609375, 93.515625, 113.994140625, -8.7890625, -99.052734375, -0.20725388824939728 ]
[ -0.087890625, 92.8125, 115.83984375, -7.998046875, -96.50390625, 20.673812866210938 ]
2.96
74
0
74
0
[ 3.427734375, 92.548828125, 113.90625, -8.876953125, -99.404296875, -0.20725388824939728 ]
[ 0.52734375, 92.724609375, 115.83984375, -7.998046875, -97.119140625, 20.673812866210938 ]
3
75
0
75
0
[ 3.8671875, 91.845703125, 113.818359375, -9.66796875, -99.580078125, -0.20725388824939728 ]
[ 1.142578125, 92.4609375, 115.83984375, -7.998046875, -97.91015625, 20.673812866210938 ]
3.04
76
0
76
0
[ 4.21875, 91.142578125, 113.642578125, -11.07421875, -99.580078125, -0.20725388824939728 ]
[ 1.93359375, 91.58203125, 115.751953125, -7.998046875, -98.26171875, 20.673812866210938 ]
3.08
77
0
77
0
[ 4.39453125, 90.17578125, 113.642578125, -12.65625, -99.4921875, -0.20725388824939728 ]
[ 2.724609375, 90.615234375, 115.751953125, -8.0859375, -98.349609375, 20.673812866210938 ]
3.12
78
0
78
0
[ 4.5703125, 88.857421875, 113.642578125, -14.326171875, -99.4921875, -0.20725388824939728 ]
[ 3.427734375, 89.912109375, 115.83984375, -8.876953125, -98.876953125, 20.673812866210938 ]
3.16
79
0
79
0
[ 4.74609375, 87.36328125, 113.5546875, -15.8203125, -99.4921875, -0.20725388824939728 ]
[ 3.955078125, 89.12109375, 115.83984375, -10.01953125, -98.876953125, 20.673812866210938 ]
3.2
80
0
80
0
[ 4.921875, 85.95703125, 113.5546875, -17.314453125, -99.4921875, -0.20725388824939728 ]
[ 3.955078125, 88.06640625, 115.6640625, -11.689453125, -98.96484375, 20.673812866210938 ]
3.24
81
0
81
0
[ 5.009765625, 84.638671875, 113.5546875, -18.45703125, -99.4921875, -0.20725388824939728 ]
[ 3.955078125, 86.66015625, 115.48828125, -13.095703125, -98.96484375, 20.673812866210938 ]
3.28
82
0
82
0
[ 5.009765625, 83.408203125, 113.5546875, -19.423828125, -99.404296875, -0.20725388824939728 ]
[ 3.955078125, 84.990234375, 115.48828125, -14.58984375, -98.96484375, 20.673812866210938 ]
3.32
83
0
83
0
[ 4.921875, 82.353515625, 113.5546875, -20.21484375, -99.404296875, -0.10362694412469864 ]
[ 3.779296875, 83.3203125, 115.48828125, -15.99609375, -98.96484375, 20.673812866210938 ]
3.36
84
0
84
0
[ 4.658203125, 81.474609375, 113.5546875, -20.830078125, -99.140625, -0.10362694412469864 ]
[ 3.8671875, 82.177734375, 115.48828125, -17.138671875, -98.96484375, 20.673812866210938 ]
3.4
85
0
85
0
[ 4.306640625, 80.595703125, 113.5546875, -21.181640625, -98.701171875, -0.10362694412469864 ]
[ 3.955078125, 81.2109375, 115.48828125, -18.10546875, -98.96484375, 20.673812866210938 ]
3.44
86
0
86
0
[ 4.04296875, 79.892578125, 113.466796875, -21.357421875, -98.525390625, -0.10362694412469864 ]
[ 4.39453125, 80.33203125, 115.48828125, -18.80859375, -98.96484375, 20.673812866210938 ]
3.48
87
0
87
0
[ 3.779296875, 79.189453125, 113.466796875, -21.357421875, -98.525390625, -0.10362694412469864 ]
[ 4.5703125, 79.27734375, 115.48828125, -19.423828125, -98.61328125, 20.673812866210938 ]
3.52
88
0
88
0
[ 3.603515625, 78.486328125, 113.466796875, -21.357421875, -98.525390625, -0.10362694412469864 ]
[ 4.5703125, 78.3984375, 115.48828125, -19.775390625, -98.349609375, 20.673812866210938 ]
3.56
89
0
89
0
[ 3.515625, 77.87109375, 113.466796875, -21.357421875, -98.4375, -0.10362694412469864 ]
[ 4.130859375, 77.958984375, 115.48828125, -19.775390625, -98.349609375, 20.673812866210938 ]
3.6
90
0
90
0
[ 3.515625, 77.255859375, 113.466796875, -21.357421875, -98.4375, -0.10362694412469864 ]
[ 3.69140625, 77.431640625, 115.400390625, -19.775390625, -98.349609375, 20.673812866210938 ]
3.64
91
0
91
0
[ 3.427734375, 76.640625, 113.466796875, -21.357421875, -98.4375, -0.10362694412469864 ]
[ 2.98828125, 76.728515625, 115.400390625, -20.0390625, -98.349609375, 20.673812866210938 ]
3.68
92
0
92
0
[ 3.251953125, 75.9375, 113.37890625, -21.533203125, -98.4375, -0.10362694412469864 ]
[ 2.724609375, 76.11328125, 115.400390625, -20.0390625, -98.349609375, 20.673812866210938 ]
3.72
93
0
93
0
[ 3.076171875, 75.234375, 113.37890625, -21.796875, -98.4375, -0.10362694412469864 ]
[ 2.724609375, 75.234375, 115.400390625, -20.0390625, -98.349609375, 20.673812866210938 ]
3.76
94
0
94
0
[ 2.900390625, 74.53125, 113.37890625, -22.236328125, -98.4375, -0.10362694412469864 ]
[ 2.8125, 74.443359375, 115.224609375, -20.0390625, -98.349609375, 20.673812866210938 ]
3.8
95
0
95
0
[ 2.63671875, 73.828125, 113.37890625, -22.67578125, -98.4375, -0.10362694412469864 ]
[ 3.251953125, 74.00390625, 115.224609375, -20.126953125, -97.822265625, 20.673812866210938 ]
3.84
96
0
96
0
[ 2.63671875, 73.037109375, 113.37890625, -23.203125, -98.4375, -0.10362694412469864 ]
[ 2.98828125, 73.388671875, 115.224609375, -20.56640625, -98.26171875, 20.673812866210938 ]
3.88
97
0
97
0
[ 2.63671875, 72.333984375, 113.37890625, -23.90625, -98.4375, -0.10362694412469864 ]
[ 2.724609375, 72.59765625, 115.224609375, -21.09375, -97.822265625, 20.673812866210938 ]
3.92
98
0
98
0
[ 2.63671875, 71.71875, 113.37890625, -24.609375, -98.4375, -0.10362694412469864 ]
[ 2.548828125, 72.158203125, 115.224609375, -21.708984375, -97.822265625, 20.673812866210938 ]
3.96
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": 10,
    "total_frames": 3125,
    "total_tasks": 1,
    "total_videos": 20,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 25,
    "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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            "shape": [
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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.laptop": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "info": {
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                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
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                "video.pix_fmt": "yuv420p",
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                "has_audio": false
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        },
        "observation.images.phone": {
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            "shape": [
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                640,
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 25.0,
                "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": [
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            ],
            "names": null
        },
        "index": {
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                1
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        "task_index": {
            "dtype": "int64",
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Size of downloaded dataset files:
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