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Datasets:
HarrisonLee24
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so100_test-1

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
29.3
frame_index
int64
0
878
episode_index
int64
0
2
index
int64
0
2.63k
task_index
int64
0
0
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[ 10.72265625, 168.310546875, 148.798828125, 63.80859375, -4.306640625, 0 ]
2.366667
71
0
71
0
[ 14.4140625, 151.435546875, 134.47265625, 68.90625, 1.318359375, 11.890838623046875 ]
[ 10.8984375, 164.619140625, 146.77734375, 64.51171875, -3.1640625, 2.0390071868896484 ]
2.4
72
0
72
0
[ 15.732421875, 145.986328125, 129.90234375, 71.19140625, 1.318359375, 12.76803207397461 ]
[ 11.689453125, 160.751953125, 144.31640625, 65.390625, -1.93359375, 4.432624340057373 ]
2.433333
73
0
73
0
[ 16.611328125, 140.80078125, 125.419921875, 73.740234375, 0.263671875, 15.009745597839355 ]
[ 13.0078125, 156.533203125, 141.416015625, 66.533203125, -0.87890625, 6.737588405609131 ]
2.466667
74
0
74
0
[ 17.138671875, 136.40625, 121.376953125, 76.2890625, -0.615234375, 18.908382415771484 ]
[ 14.150390625, 151.69921875, 137.724609375, 67.939453125, -0.263671875, 8.687943458557129 ]
2.5
75
0
75
0
[ 17.841796875, 132.978515625, 118.30078125, 77.51953125, -1.7578125, 21.150096893310547 ]
[ 14.853515625, 146.689453125, 133.857421875, 69.78515625, -0.263671875, 10.460992813110352 ]
2.533333
76
0
76
0
[ 18.28125, 130.25390625, 116.015625, 77.607421875, -2.8125, 22.612085342407227 ]
[ 15.46875, 141.943359375, 129.990234375, 71.89453125, -0.263671875, 12.854610443115234 ]
2.566667
77
0
77
0
[ 18.80859375, 128.14453125, 114.345703125, 76.904296875, -4.482421875, 23.87914276123047 ]
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2.6
78
0
78
0
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[ 16.875, 134.47265625, 123.57421875, 75.05859375, -1.0546875, 17.907800674438477 ]
2.633333
79
0
79
0
[ 18.720703125, 124.453125, 112.236328125, 74.8828125, -12.392578125, 20.76023292541504 ]
[ 17.578125, 131.30859375, 121.2890625, 75.146484375, -1.7578125, 19.680850982666016 ]
2.666667
80
0
80
0
[ 18.896484375, 122.958984375, 111.533203125, 74.091796875, -13.18359375, 18.421052932739258 ]
[ 17.666015625, 128.84765625, 119.35546875, 74.8828125, -3.69140625, 20.478723526000977 ]
2.7
81
0
81
0
[ 18.896484375, 121.728515625, 111.09375, 72.685546875, -15.029296875, 15.886940002441406 ]
[ 17.666015625, 126.474609375, 117.59765625, 74.53125, -6.328125, 20.03546142578125 ]
2.733333
82
0
82
0
[ 19.248046875, 120.76171875, 111.09375, 70.83984375, -16.083984375, 14.7173490524292 ]
[ 17.40234375, 124.189453125, 116.3671875, 74.1796875, -8.7890625, 19.592199325561523 ]
2.766667
83
0
83
0
[ 19.775390625, 120.05859375, 111.4453125, 68.37890625, -17.2265625, 14.424951553344727 ]
[ 17.40234375, 122.51953125, 115.6640625, 73.4765625, -11.162109375, 17.553190231323242 ]
2.8
84
0
84
0
[ 20.302734375, 119.1796875, 111.884765625, 66.005859375, -18.984375, 14.230018615722656 ]
[ 17.841796875, 121.201171875, 115.13671875, 72.0703125, -13.0078125, 16.13475227355957 ]
2.833333
85
0
85
0
[ 20.830078125, 118.30078125, 112.1484375, 63.720703125, -21.181640625, 13.9376220703125 ]
[ 18.720703125, 120.234375, 114.9609375, 70.576171875, -14.326171875, 15.2482271194458 ]
2.866667
86
0
86
0
[ 20.91796875, 116.982421875, 112.1484375, 62.138671875, -23.5546875, 13.645224571228027 ]
[ 19.3359375, 119.1796875, 114.873046875, 68.73046875, -15.46875, 14.804965019226074 ]
2.9
87
0
87
0
[ 21.005859375, 115.6640625, 112.060546875, 60.732421875, -25.6640625, 13.742690086364746 ]
[ 19.599609375, 117.94921875, 114.873046875, 66.796875, -17.05078125, 14.273049354553223 ]
2.933333
88
0
88
0
[ 21.09375, 114.521484375, 112.1484375, 59.150390625, -28.212890625, 13.450291633605957 ]
[ 19.599609375, 116.630859375, 114.873046875, 64.951171875, -19.072265625, 13.829787254333496 ]
2.966667
89
0
89
0
[ 21.09375, 113.5546875, 112.587890625, 57.3046875, -31.201171875, 11.695906639099121 ]
[ 20.0390625, 115.3125, 114.873046875, 63.369140625, -21.26953125, 13.475176811218262 ]
3
90
0
90
0
[ 21.09375, 112.67578125, 113.02734375, 55.107421875, -34.189453125, 9.746588706970215 ]
[ 20.478515625, 114.169921875, 114.873046875, 61.69921875, -23.37890625, 13.209218978881836 ]
3.033333
91
0
91
0
[ 21.181640625, 111.796875, 113.37890625, 52.20703125, -36.5625, 8.86939525604248 ]
[ 20.830078125, 113.02734375, 114.873046875, 60.205078125, -25.751953125, 12.411347389221191 ]
3.066667
92
0
92
0
[ 21.181640625, 110.7421875, 113.37890625, 49.921875, -39.0234375, 8.771929740905762 ]
[ 20.830078125, 111.97265625, 114.873046875, 58.359375, -28.30078125, 10.81560230255127 ]
3.1
93
0
93
0
[ 21.005859375, 109.599609375, 112.8515625, 48.33984375, -41.748046875, 10.623781204223633 ]
[ 20.478515625, 110.830078125, 114.873046875, 56.337890625, -30.9375, 9.7517728805542 ]
3.133333
94
0
94
0
[ 20.7421875, 108.193359375, 111.708984375, 47.8125, -44.296875, 12.670564651489258 ]
[ 20.302734375, 109.775390625, 114.873046875, 53.876953125, -33.57421875, 9.042552947998047 ]
3.166667
95
0
95
0
[ 20.390625, 106.875, 110.478515625, 47.63671875, -46.93359375, 14.132553100585938 ]
[ 20.21484375, 108.720703125, 114.78515625, 51.767578125, -36.2109375, 9.131205558776855 ]
3.2
96
0
96
0
[ 20.126953125, 105.732421875, 109.3359375, 47.548828125, -49.39453125, 16.56920051574707 ]
[ 20.302734375, 107.490234375, 114.345703125, 50.185546875, -38.671875, 10.460992813110352 ]
3.233333
97
0
97
0
[ 19.951171875, 104.765625, 108.28125, 47.548828125, -51.416015625, 20.077972412109375 ]
[ 20.302734375, 106.171875, 113.73046875, 49.130859375, -41.1328125, 11.879432678222656 ]
3.266667
98
0
98
0
[ 19.599609375, 103.974609375, 107.138671875, 48.076171875, -53.349609375, 23.58674430847168 ]
[ 20.126953125, 104.853515625, 113.02734375, 48.427734375, -43.76953125, 13.475176811218262 ]
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": 3,
    "total_frames": 2633,
    "total_tasks": 1,
    "total_videos": 6,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:3"
    },
    "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": {
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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.images.action_cam": {
            "dtype": "video",
            "shape": [
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            "names": [
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        "observation.images.pocket_cam": {
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            "names": [
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                "channels"
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            "info": {
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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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            "names": null
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        "index": {
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        "task_index": {
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        }
    }
}

Citation

BibTeX:

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